CN109398101A - A kind of composite braking transient process control method - Google Patents
A kind of composite braking transient process control method Download PDFInfo
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- CN109398101A CN109398101A CN201811044430.8A CN201811044430A CN109398101A CN 109398101 A CN109398101 A CN 109398101A CN 201811044430 A CN201811044430 A CN 201811044430A CN 109398101 A CN109398101 A CN 109398101A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
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- Electromagnetism (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention relates to a kind of composite braking transient process control methods, this method is aiming at the problem that response speed of motor braking subsystem and hydraulic brake subsystem in vehicle composite braking system has differences, directly the deviation between hydraulic braking force demand and actual hydraulic pressure brake force is compensated by motor braking power, furthermore, add motor force correction module, make under each transient working condition, motor all has compensation ability.Compared with prior art, the present invention improves motor in the braking consistency of hydraulic coupling intervention operating condition, can effectively reduce composite braking transient process shock extent.
Description
Technical field
The present invention relates to automobile composite braking technical fields, more particularly, to a kind of composite braking transient process controlling party
Method.
Background technique
Composite braking system generally comprises motor braking subsystem and hydraulic brake subsystem, the braking requirement of electric car
It is responded jointly by the regenerative braking and brake fluid system of driving motor.Electronic hydraulic brake system (Electro-
Hydraulic Brake System, EHB) it is a kind of novel line control brake system with active boost function, it is automobile
There is hydraulic braking force accurately to control, be easily achieved outstanding advantages of regenerative braking for the development trend of brake fluid system.
When vehicle braking, Brake force distribution strategy preferentially uses motor braking power under conditions of guaranteeing brake safe, when
Motor braking power applies hydraulic braking force when not being able to satisfy braking requirement again.However, since motor can be produced by high speeds
Raw regenerative brake torque is limited, can not then provide under the low speed regeneration torque etc. limitation, cause composite braking will appear with
Under several representative transitions operating conditions:
1) it is changed into moderate strength from low-intensity braking with target severity of braking, after motor reaches peak torque, electricity
Sub- hydraulic system intervention braking；
2) it is changed into low-intensity braking from moderate strength with target severity of braking, in motor separate responses braking requirement
Before, electronic hydraulic brake system withdraws from braking；
3) when braking requirement remains unchanged, as speed constantly reduces, when motor speed is reduced to critical speed, motor
Generating efficiency is low and fever is serious, and in order to protect motor, regenerative braking force withdraws from braking, but at this time due to total braking requirement not
Become, hydraulic braking force sharply increases.
Since motor is different from the response speed of brake fluid system, the fast response time of motor, the response of hydraulic system
Speed is slow compared with motor, cause composite braking under transient working condition, and generating biggish braking shock extent, (i.e. braking deceleration is led
Number), ride comfort and the comfort of braking are deteriorated.The research in composite braking field at present is main or proposes regenerative braking
Control strategy carries out reasonable distribution to front and back axle braking force.The state of in entire braking process shock extent is not paid close attention to excessively,
Lead to not the actual effect for embodying numerous Brake energy recovery strategies.Therefore, it is necessary to which providing one kind can effectively reduce again
Close the control method of shock extent in braking transient process.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of reduction composite brakings
The composite braking transient process control method of transient process shock extent.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of composite braking transient process control method, method includes the following steps:
(1) according to the auto model and composite braking system controlled, whole-car parameters and the parameter of electric machine is obtained, determines motor
Braking deceleration corresponding to brake force upper limit value；
(2) mould is corrected for the building motor force of braking deceleration corresponding to braking intention and motor braking power upper limit value
Block is adjusted according to upper limit value of the motor force correction module to motor braking power；
Preferably, the specific steps that motor force correction module is adjusted the upper limit value of motor braking power include:
A) target braking deceleration is judged according to braking requirement, if target braking deceleration needs to increase, into
Row in next step, otherwise, keeps the upper limit value of motor braking power constant；
B) target braking deceleration is judged, if target braking deceleration is less than given threshold, reduces motor system
Otherwise the upper limit value of power performs the next step；
C) target braking deceleration is judged whether in setting space, if so, the upper limit value of recovery motor braking power, no
Then, keep the upper limit value of current motor brake force constant.
Preferably, the motor force correction module is threshold control.
Preferably, the threshold value is 0.1g.
Preferably, described to set space as 0.1g~0.15g.G is acceleration of gravity, is approximately equal to 9.8m/s.
(3) brake force is allocated according to the upper limit value of motor braking power adjusted, obtains target motor brake force
And target hydraulic braking force；
(4) hydraulic braking force demand and actual hydraulic pressure are braked to a part after making every effort to difference as motor demand torque, i.e.,
Target hydraulic braking force and actual hydraulic pressure braking are made every effort into difference as motor braking balancing force.The motor braking balancing force that will acquire
It is superimposed with target motor power and works together to motor braking subsystem, obtain the output motor brake force of motor braking subsystem；
Meanwhile target hydraulic power is applied to hydraulic brake subsystem, obtain the output hydraulic pressure brake force of hydraulic brake subsystem.
(5) according to the output motor brake force of motor braking subsystem and the output hydraulic pressure brake force of hydraulic brake subsystem
Vehicle composite braking transient process is controlled.
Compared with prior art, the invention has the following advantages that
One, sound of the method for the present invention for motor braking subsystem and hydraulic brake subsystem in automobile composite braking system
Speed is answered to have differences problem, it is intended to by motor braking power directly between hydraulic braking force demand and actual hydraulic pressure brake force
Deviation compensates, and by adding motor force correction module, makes under each transient working condition, motor all has compensation ability, is promoted
Motor makes total brake force under transient working condition closer to aggregate demand brake force in the braking consistency of hydraulic coupling intervention operating condition,
It is impacted so as to improve being braked more slowly with overshoot bring because of the response speed of hydraulic system；
Two, the method for the present invention makes every effort to hydraulic braking force demand and actual hydraulic pressure braking after difference as motor demand torque
A part is thus formed to hydraulic braking force closed loop feedback, and preferably control effect can be achieved in composite braking transient process
Fruit.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of composite braking transient process control method of the present invention；
Fig. 2 is the modified logic diagram of motor force in the embodiment of the present invention；
Fig. 3 is the rig test result figure without control strategy in the embodiment of the present invention；
Fig. 4 is the rig test result figure that control method of the present invention is used in the embodiment of the present invention.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
The present invention relates to a kind of composite braking transient process control method, this method includes the following steps:
Step 1: being based on studied auto model and composite braking system, whole-car parameters and the parameter of electric machine are analyzed, determines electricity
Braking deceleration corresponding to machine power upper limit value is 0.1g.
Step 2: the data got based on information of vehicles and step 1 determine the logical algorithm of motor force correction module:
Motor force correction logic is as shown in Fig. 2, according to vehicle-state, if braking requirement is increasing, and braking deceleration
When less than 0.1g, hydraulic braking force will be intervened at this time, enable the motor force upper limit value of braking force distribution lower than maximum value, to make
Since the insufficient brake force that lag generates can be compensated by motor coordination when obtaining hydraulic braking force intervention；When braking requirement is still increasing
Add, and braking deceleration, in 0.1g-0.15g, transient process progresses into coda at this time, enables the motor braking of braking force distribution
The upper limit value of power is gradually restored to maximum, to recycle more energy；If braking requirement maintains certain certain value, to brake force point
With making the upper limit value of motor braking power be always maximum value.
Step 3: being allocated according to the upper limit value of motor braking power adjusted to brake force, target motor system is obtained
Power and target hydraulic braking force；Hydraulic braking force demand and actual hydraulic pressure are braked after making every effort to difference as motor demand torque
A part, and be superimposed with target motor power and work together to motor braking subsystem, obtain the output electricity of motor braking subsystem
Brake force；Target hydraulic power is applied to hydraulic brake subsystem simultaneously, obtains the output hydraulic pressure system of hydraulic brake subsystem
Power, as shown in Figure 1.
Step 4: according to the output motor brake force of motor braking subsystem and the output hydraulic pressure system of hydraulic brake subsystem
Power controls vehicle composite braking transient process.
Composite braking transient process evaluation index is indicated using braking shock extent, that is, deceleration derivative.The present embodiment according to
Practical rack operating condition of test data verify the method for the present invention.Bench test operating condition are as follows: initial speed 40km/h, road
Face attachment coefficient 0.8, vehicle braking intensity gradually rises to 0.4g and is remained unchanged since 0, until speed is kept to 0.Rack
Test result is as shown in Figure 3 and Figure 4.By bench test, (the target in no control strategy, that is, Fig. 1 compared with no control strategy
Hydraulic coupling and target motor power are directly given to brake fluid system and braking motor respectively), after control method of the present invention
Hydraulic coupling intervenes the vehicle impact degree under operating condition by 28.26m/s3It is decreased to 18.39m/s3, reducing 35.0%, (hydraulic coupling is withdrawn from
Operating condition is similar with hydraulic coupling intervention operating condition, is not discussed)；Regenerative braking low speed withdraw from the vehicle impact degree under operating condition by
60.94m/s3It is decreased to 16.84m/s3, reduce 72.4%.Therefore, control method of the present invention can significantly reduce compound system
Dynamic transient process shock extent.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
The staff for being familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (5)
1. a kind of composite braking transient process control method, which is characterized in that method includes the following steps:
S1: according to the auto model and composite braking system controlled, whole-car parameters and the parameter of electric machine is obtained, determines motor braking
Braking deceleration corresponding to power upper limit value；
S2: motor force correction module, root are constructed for braking deceleration corresponding to braking intention and motor braking power upper limit value
It is adjusted according to upper limit value of the motor force correction module to motor braking power；
S3: being allocated brake force according to the upper limit value of motor braking power adjusted, obtains target motor brake force and mesh
Mark hydraulic braking force；
S4: it is used as after hydraulic braking force demand and actual hydraulic pressure braking are made every effort to difference as motor braking balancing force, and and target
Motor force superposition works together to motor braking subsystem, obtains the output motor brake force of motor braking subsystem；Simultaneously will
Target hydraulic power is applied to hydraulic brake subsystem, obtains the output hydraulic pressure brake force of hydraulic brake subsystem；
S5: according to the output hydraulic pressure brake force of the output motor brake force of motor braking subsystem and hydraulic brake subsystem to vehicle
Composite braking transient process is controlled.
2. a kind of composite braking transient process control method according to claim 1, which is characterized in that motor force corrects mould
The specific steps that block is adjusted the upper limit value of motor braking power include:
1) target braking deceleration is judged according to braking requirement, if target braking deceleration needs to increase, is carried out down
Otherwise one step keeps the upper limit value of motor braking power constant；
2) target braking deceleration is judged, if target braking deceleration is less than given threshold, reduces motor braking power
Upper limit value otherwise perform the next step；
3) judge whether target braking deceleration is setting in space, if so, restore the upper limit value of motor braking power, otherwise,
Keep the upper limit value of current motor brake force constant.
3. a kind of composite braking transient process control method according to claim 2, which is characterized in that the motor force
Correction module is threshold control.
4. a kind of composite braking transient process control method according to claim 2, which is characterized in that the threshold value is
0.1g。
5. a kind of composite braking transient process control method according to claim 2, which is characterized in that the setting is empty
Between be 0.1g~0.15g.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811044430.8A CN109398101B (en) | 2018-09-07 | 2018-09-07 | Composite braking transition process control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811044430.8A CN109398101B (en) | 2018-09-07 | 2018-09-07 | Composite braking transition process control method |
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| CN109398101A true CN109398101A (en) | 2019-03-01 |
| CN109398101B CN109398101B (en) | 2021-06-04 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112061094A (en) * | 2020-07-31 | 2020-12-11 | 盐城工学院 | New energy automobile hydraulic braking system |
| CN112109705A (en) * | 2020-09-23 | 2020-12-22 | 同济大学 | Collision avoidance optimization control system and method for extended-range distributed driving electric vehicle |
| CN113815424A (en) * | 2020-06-19 | 2021-12-21 | 广州汽车集团股份有限公司 | Vehicle braking force control method, device and computer-readable storage medium |
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| JPH1132404A (en) * | 1997-06-24 | 1999-02-02 | Nabco Ltd | Travel motion control equipment for electric vehicle |
| DE19834222B4 (en) * | 1997-07-30 | 2009-04-09 | Aisin Seiki K.K., Kariya | Brake control system for an electrically operated vehicle |
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| CN101913352A (en) * | 2010-08-02 | 2010-12-15 | 清华大学 | Coordinated braking control method of electric automobile |
| EP2275314A1 (en) * | 2009-07-16 | 2011-01-19 | Aisin Aw Co., Ltd. | Guidance device, guidance method, and guidance program |
| US8151919B2 (en) * | 2010-01-04 | 2012-04-10 | Chen Tien-Li | Vehicle-used composite braking/accelerating system |
| CN103991384B (en) * | 2014-05-26 | 2016-04-20 | 北京理工大学 | A kind of composite braking system of elec. vehicle and composite brakig method thereof |
| CN105523028A (en) * | 2015-12-17 | 2016-04-27 | 扬州泰博汽车电子智能科技有限公司 | Electronic-hydraulic compound brake system with electric brake assist function |
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2018
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1132404A (en) * | 1997-06-24 | 1999-02-02 | Nabco Ltd | Travel motion control equipment for electric vehicle |
| DE19834222B4 (en) * | 1997-07-30 | 2009-04-09 | Aisin Seiki K.K., Kariya | Brake control system for an electrically operated vehicle |
| EP2275314A1 (en) * | 2009-07-16 | 2011-01-19 | Aisin Aw Co., Ltd. | Guidance device, guidance method, and guidance program |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113815424A (en) * | 2020-06-19 | 2021-12-21 | 广州汽车集团股份有限公司 | Vehicle braking force control method, device and computer-readable storage medium |
| CN113815424B (en) * | 2020-06-19 | 2023-09-22 | 广州汽车集团股份有限公司 | Vehicle braking force control method, device and computer readable storage medium |
| CN112061094A (en) * | 2020-07-31 | 2020-12-11 | 盐城工学院 | New energy automobile hydraulic braking system |
| CN112109705A (en) * | 2020-09-23 | 2020-12-22 | 同济大学 | Collision avoidance optimization control system and method for extended-range distributed driving electric vehicle |
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| CN109398101B (en) | 2021-06-04 |
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