CN108995539B - Energy recovery control method and system and electric automobile - Google Patents
Energy recovery control method and system and electric automobile Download PDFInfo
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- CN108995539B CN108995539B CN201811037610.3A CN201811037610A CN108995539B CN 108995539 B CN108995539 B CN 108995539B CN 201811037610 A CN201811037610 A CN 201811037610A CN 108995539 B CN108995539 B CN 108995539B
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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
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application provides an energy recovery control method and system and an electric automobile. The energy recovery control method is applied to an electric automobile, and comprises the following steps: and when the braking signal of the electric automobile is detected, acquiring a hydraulic signal of a hydraulic braking device. Wherein, the braking signal is a signal whether to brake or not. And calculating the torque to be braked of the electric automobile according to the hydraulic signal. And calculating the maximum recovery torque of the motor according to the running state information of the motor. And calculating a target motor braking torque and a target hydraulic braking torque according to the torque to be braked and the maximum recovery torque. And adjusting the actual braking torque of the motor according to the target motor braking torque. And adjusting the hydraulic actual braking torque according to the target hydraulic braking torque. The scheme of the embodiment of the application can greatly improve the efficiency of energy recovery of the electric automobile.
Description
Technical Field
The application relates to the technical field of electric automobiles, in particular to an energy recovery control method and system and an electric automobile.
Background
The braking energy recovery is one of the important technologies of modern electric vehicles and hybrid vehicles, and in general internal combustion engine vehicles, when the electric vehicles decelerate and brake, the kinetic energy of the electric vehicles is converted into heat energy through a braking system and released to the atmosphere. On electric vehicles and hybrid vehicles, the wasted kinetic energy can be converted into electric energy by a braking energy recovery technology, stored in a storage battery, and further converted into driving energy. For example, when the electric vehicle is started or accelerated and the driving force is to be increased, the driving force of the motor becomes the auxiliary power of the engine, so that the electric energy is effectively used.
The braking mode of the electric automobile comprises motor braking and hydraulic braking, wherein the braking force of the motor braking and the braking force of the hydraulic braking are often independent of each other, and the braking purpose is achieved through the braking force of the motor braking and the braking force of the hydraulic braking during braking. In this way, in order to ensure driving comfort, an excessive motor braking torque cannot be applied to the front axle, and the braking of the vehicle is mainly achieved by hydraulic braking. Therefore, the motor braking energy is relatively low.
Disclosure of Invention
In order to overcome at least one of the deficiencies in the prior art, an object of the present application is to provide an energy recovery control method applied to an electric vehicle, the method comprising:
when a braking signal of the electric automobile is detected, acquiring a hydraulic signal of a hydraulic braking device, wherein the braking signal is a signal for judging whether braking is performed or not;
calculating the torque to be braked of the electric automobile according to the hydraulic signal;
calculating the maximum recovery torque of the motor according to the running state information of the motor;
calculating a target motor braking torque and a target hydraulic braking torque according to the torque to be braked and the maximum recovery torque;
and adjusting the actual braking torque of the motor according to the target motor braking torque, and adjusting the hydraulic actual braking torque according to the target hydraulic braking torque.
Optionally, the step of calculating a target motor braking torque and a target hydraulic braking torque according to the torque to be braked and the maximum recovery torque includes:
comparing the torque to be braked with the maximum recovery torque;
if the torque to be braked is larger than or equal to the maximum recovery torque, setting the target motor braking torque as the maximum recovery torque, and setting the target hydraulic braking torque as the difference between the torque to be braked and the maximum recovery torque;
and if the torque to be braked is smaller than the maximum recovery torque, setting the target motor braking torque as the torque to be braked, and setting the target hydraulic braking torque as zero.
Optionally, the step of adjusting the actual braking torque of the motor according to the target motor braking torque and the step of adjusting the actual hydraulic braking torque according to the target hydraulic braking torque include:
and reducing the hydraulic actual braking torque of the hydraulic braking device and increasing the actual braking torque of the motor to enable the target motor braking torque to be equal to the actual braking torque of the motor, and enable the target hydraulic braking torque to be equal to the hydraulic actual braking torque.
Optionally, in the process of reducing the actual braking torque of the hydraulic brake device hydraulic pressure and increasing the actual braking torque of the motor, the increase value of the target motor braking torque is equal to the decrease value of the target hydraulic braking torque.
Optionally, the step of adjusting the hydraulic actual braking torque according to the target hydraulic braking torque further includes:
acquiring rotating speed information of wheels of the electric automobile;
judging whether the electric automobile has a locking trend or not according to the rotating speed information;
if the electric automobile has a locking trend, reducing the value of the target motor braking torque according to a preset rule, and re-executing the step of calculating the maximum recovery torque of the motor according to the running state information of the motor;
and if the electric automobile does not have the locking tendency, executing the step of adjusting the hydraulic actual braking torque according to the target hydraulic braking torque.
Optionally, the step of obtaining the hydraulic signal of the hydraulic brake device further comprises,
and controlling the hydraulic brake device of the electric automobile to build pressure according to the brake signal so as to increase the hydraulic pressure of the hydraulic brake device.
Another object of the present application is to provide an energy recovery control system for an electric vehicle, the system including a braking signal collecting unit, a control unit, a motor, a braking hydraulic pressure collecting unit, and a hydraulic braking unit;
the brake signal acquisition unit is connected with the control unit and used for sending the acquired brake signal to the control unit;
the control unit is respectively connected with the motor, the brake hydraulic pressure acquisition unit and the hydraulic braking unit and used for calculating the maximum recovery torque of the motor according to the running state information of the motor, calculating the torque to be braked according to the hydraulic signals acquired by the brake hydraulic pressure acquisition unit, and calculating the target motor braking torque and the target hydraulic braking torque according to the maximum recovery torque and the torque to be braked so as to control the motor and the hydraulic braking unit.
Optionally, the control unit comprises a vehicle control unit, a motor controller, a braking energy recovery calculation unit and a hydraulic control unit;
the braking energy recovery calculating unit is respectively connected with the braking hydraulic pressure collecting unit, the braking signal collecting unit and the hydraulic control unit, and is used for calculating the torque to be braked according to the hydraulic signal after receiving a braking signal and sending the torque to be braked to the hydraulic control unit; the hydraulic control unit calculates a target hydraulic braking torque according to the torque to be braked so as to control the hydraulic braking unit;
the motor controller is connected with the motor and used for acquiring running state information of the motor and calculating the target motor braking torque according to the torque to be braked so as to control the motor to run;
the vehicle control unit is respectively connected with the braking energy recovery calculating unit and the motor controller, and is used for receiving the torque to be braked and sending the torque to the motor controller, and receiving the maximum recovery torque and sending the torque to the braking energy recovery calculating unit.
Optionally, the energy recovery control system further includes a wheel speed sensor for acquiring rotation speed information of wheels of the electric vehicle, and the wheel speed sensor is connected to the hydraulic control unit and is configured to send the rotation speed information to the hydraulic braking unit.
It is also an object of the present application to provide an electric vehicle including the energy recovery control system as defined in any one of the above.
Compared with the prior art, the method has the following beneficial effects:
according to the embodiment of the application, the hydraulic signal of the hydraulic brake device is acquired according to the brake signal of the electric automobile, the torque to be braked is calculated according to the hydraulic signal of the hydraulic brake device, and the maximum recovery torque of the motor is calculated according to the motor running state information, so that the target motor brake torque and the target hydraulic brake torque are obtained according to the torque to be braked and the maximum recovery torque, the motor is adjusted according to the target motor brake torque, and the hydraulic pressure of the brake wheel cylinder of the electric automobile is adjusted according to the target hydraulic brake torque. The embodiment of the application can enable the motor to recover energy to the maximum extent, and therefore, the energy recovery rate can be greatly improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that for a person skilled in the art, other related drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a first schematic structural diagram of an energy recovery control system according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of an energy recovery control system according to an embodiment of the present disclosure;
fig. 3 is a first flowchart illustrating an energy recovery control method according to an embodiment of the present disclosure;
fig. 4 is a second flowchart illustrating an energy recovery control method according to an embodiment of the present disclosure;
fig. 5 is a third schematic flowchart of an energy recovery control method according to an embodiment of the present application.
Icon: 1-a control unit; 11-vehicle control unit; 12-a motor controller; 13-a braking energy recovery calculating unit; 14-a hydraulic control unit; 2-a brake signal acquisition unit; 3, a motor; 4-a brake hydraulic pressure acquisition unit; 5-a hydraulic brake unit; 6-a power battery; 61-left front wheel; 62-the right front wheel; 63-left rear wheel; 64-the right rear wheel; 7-wheel speed sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it is not further defined and explained in subsequent figures.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an energy recovery control system provided in an embodiment of the present application, and the energy recovery control system is applied to an electric vehicle, and includes a braking signal acquisition unit 2, a control unit 1, a motor 3, a braking hydraulic pressure acquisition unit 4, and a hydraulic braking unit 5.
The control unit 1 is respectively connected with the braking signal acquisition unit 2, the motor 3, the braking hydraulic acquisition unit 4 and the hydraulic braking unit 5.
The braking signal acquisition unit 2 is used for acquiring braking signals of the electric automobile, the motor 3 can be used for braking, and the braking hydraulic pressure acquisition unit 4 is used for acquiring hydraulic pressure of the hydraulic braking device to obtain hydraulic signals of the hydraulic braking device. The hydraulic braking device comprises a main braking cylinder and a wheel braking cylinder, wherein after the electric automobile starts a braking function, namely the electric automobile is stepped on, the pressure of the main braking cylinder is increased, and then the main braking cylinder applies braking force to a corresponding tire through the wheel braking cylinder.
In the present embodiment, the wheel cylinders are in one-to-one correspondence with the tires, and each wheel cylinder is used for braking the corresponding tire. In this embodiment, when the hydraulic signal of the hydraulic brake device is collected, the collected hydraulic signal may be the hydraulic pressure of a brake master cylinder of the hydraulic brake device.
The control unit 1 calculates the maximum recovery torque of the motor 3 according to the running state information of the motor 3, calculates the torque to be braked according to the hydraulic signal acquired by the brake hydraulic pressure acquisition unit 4, and calculates the target motor braking torque and the target hydraulic braking torque according to the maximum recovery torque and the torque to be braked so as to control the motor 3 and the hydraulic braking unit 5.
In this embodiment, the braking signal may be a boolean signal that is only used to determine whether the driver is pressing the brake to perform braking, or may be a specific value, for example, a pressure value received by a pedal of the electric vehicle. The hydraulic signal of the hydraulic brake device may be an electrical signal converted according to the magnitude of the hydraulic pressure inside the hydraulic brake device.
The operation state information of the motor 3 includes the rotation speed of the motor 3, the power information of the motor 3, and the like.
The maximum recovery torque of the motor 3 is the maximum recovery torque that the motor 3 can bear. The target motor braking torque is a braking torque that is desired to be allocated to the motor 3 for braking during braking, and the target hydraulic braking torque is a braking torque that is desired to be allocated to the hydraulic braking during braking.
The scheme of this embodiment can control the actual braking torque of motor and the actual braking torque of hydraulic pressure according to the biggest torque that motor 3 of electric automobile can retrieve to, make the energy that motor 3 can retrieve reach the biggest.
The brake hydraulic pressure collection unit 4 in the present embodiment may include a pressure sensor. For example, a pressure sensor is connected to the control unit 1.
The brake signal acquisition unit 2 may include a brake signal sensor, such as a pressure sensor.
Referring to fig. 2, optionally, in this embodiment, the control unit 1 includes a vehicle control unit 11, a motor controller 12, a braking energy recovery calculating unit 13, and a hydraulic control unit 14.
The braking energy recovery calculating unit 13 is respectively connected to the braking hydraulic pressure collecting unit 4, the braking signal collecting unit 2 and the hydraulic control unit 14, and is configured to calculate the torque to be braked according to the hydraulic signal after receiving the braking signal, and send the torque to be braked to the hydraulic control unit 14. The hydraulic control unit 14 calculates a target hydraulic braking torque according to the torque to be braked to control the hydraulic braking unit 5. The hydraulic brake unit 5 in the present embodiment includes brake cylinders that correspond one-to-one to the left front wheel 61, the right front wheel 62, the left rear wheel 63, and the right rear wheel 64 of the electric vehicle.
The hydraulic control unit 14 is respectively connected with the brake wheel cylinders corresponding to the left front wheel 61, the right front wheel 62, the left rear wheel 63 and the right rear wheel 64 of the electric vehicle to respectively control the brake wheel cylinders corresponding to the left front wheel 61, the right front wheel 62, the left rear wheel 63 and the right rear wheel 64, so as to respectively control the braking torques applied to the left front wheel 61, the right front wheel 62, the left rear wheel 63 and the right rear wheel 64.
The motor controller 12 is connected to the motor 3, and is configured to obtain running state information of the motor 3 and calculate the target motor braking torque according to the torque to be braked, so as to control the motor 3 to run.
The vehicle control unit 11 is respectively connected to the braking energy recovery calculating unit 13 and the motor controller 12, and is configured to receive the torque to be braked and send the received torque to the motor controller 12, and receive the maximum recovery torque and send the received torque to the braking energy recovery calculating unit 13.
In this embodiment, the control unit 1 may include a plurality of sub-control units 1.
The sub-control unit 1 of the control unit 1 may be a combination of any one of the vehicle control unit 11, the motor controller 12, the braking energy recovery calculation unit 13, and the hydraulic control unit 14 in this embodiment.
Optionally, the energy recovery control system further comprises a wheel speed sensor 7 for acquiring rotation speed information of wheels of the electric vehicle, and the wheel speed sensor 7 is connected with the hydraulic control unit 14 and is used for sending the rotation speed information to the hydraulic braking unit 5.
In this embodiment, the rotational speed information of the wheel is collected through the wheel speed sensor 7, and the wheel speed sensor 7 is connected with the control unit 1, so that the control unit 1 can control the braking process according to the rotational speed information.
Another object of the present application is to provide an electric vehicle including the energy recovery control system described in any one of the above.
Referring to fig. 3, fig. 3 is a schematic flow chart of an energy recovery control method according to an embodiment of the present application, where the energy recovery control method according to the embodiment is applied to an electric vehicle, and the method includes:
step S110, when a braking signal of the electric automobile is detected, a hydraulic signal of a hydraulic braking device is obtained, wherein the braking signal is a signal for judging whether braking is performed or not.
In the process of braking the electric automobile, when the brake is stepped on, the hydraulic pressure of the hydraulic braking device is increased, so that in the embodiment, the braking signal of the electric automobile can be detected firstly, and then the hydraulic signal of the hydraulic braking device is obtained after the braking signal of the electric automobile is detected.
In this embodiment, the braking signal may be a boolean signal that is only used to determine whether the driver is pressing the brake to perform braking, or may be a specific value, for example, a pressure value received by a pedal of the electric vehicle. The hydraulic signal of the hydraulic brake device may be an electrical signal converted according to the magnitude of the hydraulic pressure inside the hydraulic brake device.
At the moment after the brake is stepped on, the brake master cylinder of the hydraulic brake device starts to build pressure, the hydraulic pressure in the brake master cylinder is increased, and at the moment, the pressure of the brake wheel cylinder controlled by the brake master cylinder is not immediately increased. In this embodiment, the hydraulic pressure signal may be acquired by acquiring the hydraulic pressure of the master cylinder of the hydraulic brake device as the hydraulic pressure signal when the hydraulic pressure in the brake wheel cylinder of the electric vehicle is not increased.
And step S120, calculating the torque to be braked of the electric automobile according to the hydraulic signal.
The torque to be braked in this step is the braking torque required for stopping the electric vehicle, which is calculated according to the hydraulic signal.
In the process of braking the electric automobile, when the brake is stepped on, the hydraulic pressure of the hydraulic brake device is increased. The hydraulic pressure increase amount of the hydraulic brake device is influenced by the braking state, so that the torque to be braked can be calculated according to the hydraulic pressure of the hydraulic brake device. For example, when the brake pedal is subjected to a higher pressure when the brake is depressed a longer distance, the hydraulic pressure in the hydraulic brake device becomes greater.
Step S130, calculating the maximum recovery torque of the motor 3 according to the running state information of the motor 3.
The operation state information of the motor 3 includes the rotation speed of the motor 3, the power information of the motor 3, and the like.
The maximum recovery torque of the motor 3 is the maximum recovery torque that the motor 3 can bear.
And S140-S150, calculating a target motor braking torque and a target hydraulic braking torque according to the torque to be braked and the maximum recovery torque.
Step S140, calculating a target motor braking torque according to the torque to be braked and the maximum recovery torque;
the target motor braking torque is the braking torque that is desired to be allocated to the braking of the motor 3 during braking, and the target hydraulic braking torque is the braking torque that is desired to be allocated to the hydraulic braking during braking.
In this embodiment, since the maximum recovery torque corresponding to the motor 3 in one state is determined, in this embodiment, the target motor braking torque may be determined by the torque to be braked and the maximum recovery torque.
And step S150, calculating a target hydraulic braking torque according to the torque to be braked and the target motor braking torque.
The electric vehicle needs to achieve a braking effect through the common action of motor braking and hydraulic braking, that is, in an actual braking process, the sum of a target motor braking torque and a target hydraulic braking torque is equal to a torque to be braked. Therefore, in this embodiment, the target hydraulic braking torque may be calculated according to the torque to be braked and the target motor braking torque, that is, the target hydraulic braking torque is equal to the difference between the torque to be braked and the target motor braking torque.
And step S160, adjusting the actual braking torque of the motor according to the target motor braking torque.
The actual braking torque of the motor is the braking torque that the motor 3 is actually able to provide during braking.
And step S170, adjusting the actual hydraulic braking torque according to the target hydraulic braking torque.
The actual braking torque of the hydraulic pressure is the braking torque actually provided by the braking hydraulic pressure during braking. The scheme of this embodiment can control the actual braking torque of motor and the actual braking torque of hydraulic pressure according to the biggest torque that motor 3 of electric automobile can retrieve to, make the energy that motor 3 can retrieve reach the biggest.
Referring to fig. 4, optionally, in an embodiment, the step of calculating the target motor braking torque according to the torque to be braked and the maximum recovery torque includes:
and step S141, comparing the torque to be braked with the maximum recovery torque.
And step S142, if the torque to be braked is greater than or equal to the maximum recovery torque, setting the target motor braking torque as the maximum recovery torque.
That is, in this step, when the torque to be braked is greater than or equal to the maximum recovery torque, the maximum recovery torque is taken as the target motor braking torque.
And S143, if the torque to be braked is smaller than the maximum recovery torque, setting the target motor braking torque as the torque to be braked.
That is, if the torque to be braked is smaller than the maximum recovery torque, the torque to be braked is taken as the target motor braking torque.
In this embodiment, in step S150, a target hydraulic braking torque is set as a difference between a torque to be braked and a target motor braking torque, that is, when the torque to be braked is greater than or equal to the maximum recovery torque, the difference between the torque to be braked and the maximum recovery torque is taken as the target hydraulic braking torque; and when the torque to be braked is smaller than the maximum recovery torque, namely the torque to be braked is taken as the target motor braking torque, the target hydraulic braking torque is zero.
In this embodiment, when the torque to be braked is greater than or equal to the maximum recovery torque, the maximum recovery torque is used as the target motor braking torque, so that the actual braking torque of the motor can be maintained at the maximum torque that the motor 3 can bear, and the motor 3 recovers energy with the maximum power. And when the torque to be braked is smaller than the maximum recovery torque, taking the torque to be braked as the maximum recovery torque, so that the energy generated by the torque to be braked can participate in energy recovery. In this way, the motor 3 can recover the maximum amount of energy in both cases.
In one embodiment, optionally, the step of adjusting the actual braking torque of the electric motor according to the target motor braking torque comprises adjusting the actual braking torque of the electric motor according to the target motor braking torque, and the step of adjusting the hydraulic actual braking torque according to the target hydraulic braking torque comprises:
and reducing the hydraulic actual braking torque of the hydraulic braking device and increasing the actual braking torque of the motor to make the target motor braking torque equal to the actual braking torque of the motor, wherein the target hydraulic braking torque is equal to the hydraulic actual braking torque.
In this embodiment, when the actual braking torque of the motor is adjusted, since the motor 3 does not have the braking torque initially, in this embodiment, the actual braking torque of the motor may be increased to brake the motor 3. Since the torque to be braked has been calculated and the braking torque available in the hydraulic braking device is equal to the torque to be braked, in this step the actual braking torque of the hydraulic pressure needs to be reduced according to the actually increased braking torque of the electric machine. So that the sum of the actual braking torque of the motor and the actual braking torque of the hydraulic pressure is maintained within a certain range.
Optionally, in the process of reducing the actual braking torque of the hydraulic braking device hydraulic pressure and increasing the actual braking torque of the motor, the increase value of the target motor braking torque is equal to the decrease value of the target hydraulic braking torque.
In the embodiment, the increase value of the actual braking torque of the motor is equal to the decrease value of the actual hydraulic braking torque, and the sum of the actual braking torque of the motor and the actual hydraulic braking torque can be kept unchanged, so that the influence of insufficient braking force on the braking effect can be avoided.
Considering that an unsafe condition occurs if an excessive actual braking torque of the electric motor is applied to the electric vehicle in a case of a locked wheel during operation of the electric vehicle, referring to fig. 5, the step of adjusting the hydraulic actual braking torque according to the target hydraulic braking torque according to the embodiment optionally further includes:
and step S210, obtaining the rotation speed information of the wheels of the electric automobile.
And step S220, judging whether the electric automobile has a locking trend or not according to the rotating speed information. If the electric vehicle has a locking tendency, step S230 is executed.
If the electric automobile has no locking tendency, executing step S170.
And step S230, reducing the target motor braking torque according to a preset rule. And then re-executes step S150.
In this embodiment, if the electric vehicle has a locking tendency, the actual braking torque of the motor is increased, that is, the target motor braking torque may lock the wheels of the electric vehicle, thereby resulting in driving safety. Therefore, in the embodiment, when the electric automobile is detected to have a locking tendency, the value of the target motor braking torque is reduced, and the target hydraulic braking torque is recalculated according to the torque to be braked and the reduced target motor braking torque, so that the occurrence of the locking condition of the wheels of the electric automobile can be avoided, and the braking process is safer.
Optionally, in this embodiment, the step of obtaining the hydraulic signal of the hydraulic brake device further includes,
and controlling the hydraulic brake device of the electric automobile to build pressure according to the brake signal so as to increase the hydraulic pressure of the hydraulic brake device.
Optionally, in this embodiment, the method may further include detecting a braking state of the motor 3, and starting to execute step S110 when the motor 3 can be normally braked. And when the condition that the motor 3 cannot brake normally is detected, only hydraulic braking is adopted to brake the electric automobile.
In summary, in the embodiment of the application, the hydraulic signal of the hydraulic brake device is acquired according to the brake signal of the electric vehicle, the torque to be braked is calculated according to the hydraulic signal of the hydraulic brake device, and the maximum recovery torque of the motor is calculated according to the motor running state information, so that the target motor brake torque and the target hydraulic brake torque are obtained according to the torque to be braked and the maximum recovery torque, and therefore, the motor is adjusted according to the target motor brake torque, and the hydraulic pressure of the brake wheel cylinder of the electric vehicle is adjusted according to the target hydraulic brake torque. The embodiment of the application can enable the motor to recover energy to the maximum extent, and therefore, the energy recovery rate can be greatly improved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It is to be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. An energy recovery control method, characterized by being applied to an electric vehicle, the method comprising:
when a braking signal of the electric automobile is detected, acquiring a hydraulic signal of a hydraulic braking device, wherein the braking signal is a signal for judging whether braking is performed or not;
calculating the torque to be braked of the electric automobile according to the hydraulic signal;
calculating the maximum recovery torque of the motor according to the running state information of the motor;
calculating a target motor braking torque and a target hydraulic braking torque according to the torque to be braked and the maximum recovery torque;
adjusting the actual braking torque of the motor according to the target motor braking torque, and adjusting the hydraulic actual braking torque according to the target hydraulic braking torque;
the step of calculating the target motor braking torque and the target hydraulic braking torque according to the torque to be braked and the maximum recovery torque comprises the following steps:
comparing the torque to be braked with the maximum recovery torque;
if the torque to be braked is larger than or equal to the maximum recovery torque, setting the target motor braking torque as the maximum recovery torque, and setting the target hydraulic braking torque as the difference between the torque to be braked and the maximum recovery torque;
and if the torque to be braked is smaller than the maximum recovery torque, setting the target motor braking torque as the torque to be braked, and setting the target hydraulic braking torque as zero.
2. The energy recovery control method according to claim 1, wherein the step of adjusting the actual braking torque of the motor based on the target motor braking torque, the step of adjusting the actual braking torque of the hydraulic pressure based on the target hydraulic braking torque includes:
and reducing the hydraulic actual braking torque of the hydraulic braking device and increasing the actual braking torque of the motor to enable the target motor braking torque to be equal to the actual braking torque of the motor, and enable the target hydraulic braking torque to be equal to the hydraulic actual braking torque.
3. The energy recovery control method according to claim 2, characterized in that in decreasing the actual braking torque of the hydraulic brake device hydraulic pressure and increasing the actual braking torque of the motor, the increase value of the target motor braking torque is equal to the decrease value of the target hydraulic braking torque.
4. The energy recovery control method according to claim 1, characterized in that the step of adjusting the hydraulic actual braking torque according to the target hydraulic braking torque is preceded by:
acquiring rotating speed information of wheels of the electric automobile;
judging whether the electric automobile has a locking trend or not according to the rotating speed information;
if the electric automobile has a locking trend, reducing the value of the target motor braking torque according to a preset rule, and re-executing the step of calculating the maximum recovery torque of the motor according to the running state information of the motor;
and if the electric automobile does not have the locking tendency, executing the step of adjusting the hydraulic actual braking torque according to the target hydraulic braking torque.
5. The energy recovery control method according to claim 1, characterized by further comprising before the step of acquiring a hydraulic signal of a hydraulic brake device,
and controlling the hydraulic brake device of the electric automobile to build pressure according to the brake signal so as to increase the hydraulic pressure of the hydraulic brake device.
6. An energy recovery control system is characterized by being applied to an electric automobile and comprising a braking signal acquisition unit, a control unit, a motor, a braking hydraulic acquisition unit and a hydraulic braking unit;
the brake signal acquisition unit is connected with the control unit and used for sending the acquired brake signal to the control unit;
the control unit is respectively connected with the motor, the brake hydraulic pressure acquisition unit and the hydraulic braking unit and is used for calculating the maximum recovery torque of the motor according to the running state information of the motor, calculating the torque to be braked according to the hydraulic signal acquired by the brake hydraulic pressure acquisition unit, and calculating the target motor braking torque and the target hydraulic braking torque according to the maximum recovery torque and the torque to be braked so as to control the motor and the hydraulic braking unit;
the step that the control unit calculates the target motor braking torque and the target hydraulic braking torque according to the maximum recovery torque and the torque to be braked comprises the following steps:
comparing the torque to be braked with the maximum recovery torque;
if the torque to be braked is larger than or equal to the maximum recovery torque, setting the target motor braking torque as the maximum recovery torque, and setting the target hydraulic braking torque as the difference between the torque to be braked and the maximum recovery torque;
and if the torque to be braked is smaller than the maximum recovery torque, setting the target motor braking torque as the torque to be braked, and setting the target hydraulic braking torque as zero.
7. The energy recovery control system of claim 6, wherein the control unit comprises a vehicle control unit, a motor controller, a braking energy recovery calculation unit, and a hydraulic control unit;
the braking energy recovery calculating unit is respectively connected with the braking hydraulic pressure collecting unit, the braking signal collecting unit and the hydraulic control unit, and is used for calculating the torque to be braked according to the hydraulic signal after receiving a braking signal and sending the torque to be braked to the hydraulic control unit; the hydraulic control unit calculates a target hydraulic braking torque according to the torque to be braked so as to control the hydraulic braking unit;
the motor controller is connected with the motor and used for acquiring running state information of the motor and calculating the target motor braking torque according to the torque to be braked so as to control the motor to run;
the vehicle control unit is respectively connected with the braking energy recovery calculating unit and the motor controller, and is used for receiving the torque to be braked and sending the torque to the motor controller, and receiving the maximum recovery torque and sending the torque to the braking energy recovery calculating unit.
8. The energy recovery control system of claim 7 further comprising a wheel speed sensor for collecting rotational speed information of the electric vehicle wheel, the wheel speed sensor being connected to the hydraulic control unit for sending the rotational speed information to the hydraulic brake unit.
9. An electric vehicle characterized in that it comprises an energy recovery control system according to any one of claims 6 to 8.
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| CN112208343A (en) * | 2019-07-11 | 2021-01-12 | 罗伯特·博世有限公司 | Braking energy recovery function adjusting device and braking energy recovery function adjusting method |
| CN113400944B (en) * | 2021-07-13 | 2022-06-03 | 奇瑞新能源汽车股份有限公司 | Brake recovery method and device for autonomous vehicle, vehicle and storage medium |
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Effective date of registration: 20190613 Address after: 450000 Haihai East Road 1689, Zhengzhou Economic and Technological Development Zone, Henan Province Applicant after: Hippocampal New Energy Automobile Co., Ltd. Applicant after: Hippocampus Motor Co., Ltd. Address before: 450000 Haihai East Road 1689, Zhengzhou Economic and Technological Development Zone, Henan Province Applicant before: Hippocampal New Energy Automobile Co., Ltd. Applicant before: Hippocampus Motor Co., Ltd. Applicant before: Shanghai Haima Automobile Co., Ltd. |
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Effective date of registration: 20220110 Address after: 450000 No. 1689, hanghai East Road, Zhengzhou Economic and Technological Development Zone, Zhengzhou, Henan Province Patentee after: HAIMA NEW ENERGY VEHICLE Co.,Ltd. Patentee after: HAIMA MOTOR Corp. Patentee after: Hainan Haima Automobile Co.,Ltd. Address before: No.1689, hanghai East Road, Zhengzhou Economic and Technological Development Zone, Henan 450000 Patentee before: HAIMA NEW ENERGY VEHICLE Co.,Ltd. Patentee before: Haima Automobile Co., Ltd |