CN109808501B - Method and system for recovering braking energy of electric automobile - Google Patents
Method and system for recovering braking energy of electric automobile Download PDFInfo
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- CN109808501B CN109808501B CN201711172416.1A CN201711172416A CN109808501B CN 109808501 B CN109808501 B CN 109808501B CN 201711172416 A CN201711172416 A CN 201711172416A CN 109808501 B CN109808501 B CN 109808501B
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Abstract
The invention relates to the field of automobile control, in particular to a method and a system for recovering braking energy of an electric automobile. The invention carries out energy recovery by controlling the electric drive system to output braking torque, and ensures that the rotating speed difference between the driving wheel and the non-driving wheel is not more than a set value, thereby ensuring that the motor of the electric automobile continuously inputs current to the battery when the anti-lock braking system works (when wheels are about to be locked). The invention can realize the recovery of the braking energy to the maximum extent under the condition of ensuring that the wheels are not locked, increase the driving range, reduce the sudden change of the braking torque and make a certain contribution to the smoothness of the vehicle.
Description
Technical Field
The invention relates to the field of automobile control, in particular to a method and a system for recovering braking energy of an electric automobile.
Background
The electric vehicle can improve the driving range by charging the battery through recovery of braking energy. At present, the electric automobile mostly adopts the mode of motor power generation braking and traditional mechanical braking superposition to the braking energy recovery, the braking force of the driving wheel can be increased, and great braking force easily causes the locking of the wheel and makes the vehicle lose the ability of horizontal control, the size of mechanical braking force can be adjusted by the anti-lock braking system, but the motor power generation braking force can not be adjusted, the requirement of preventing the locking of the wheel can not be completely met under the condition of motor power generation braking force, therefore, the vehicle equipped with the anti-lock braking system can all require to cancel the motor power generation braking when the anti-lock braking works, the energy of braking feedback can be reduced, and the driving range of the electric automobile is reduced.
Disclosure of Invention
The invention aims to provide a method and a system for recovering braking energy of an electric automobile, which are used for solving the problem that the braking energy cannot be recovered because a motor stops generating and braking when a braking anti-lock system works.
In order to achieve the purpose, the invention comprises a method for recovering braking energy of an electric automobile, when detecting that a braking anti-lock system is activated, calculating a required braking torque according to the rotating speeds of a driving wheel and a non-driving wheel, and performing power generation braking by an electric driving system according to the required braking torque so that the rotating speed difference between the driving wheel and the non-driving wheel is not greater than a set value.
Further, the set value is 10 rpm.
Further, when it is detected that the anti-lock braking system is not activated and a brake pedal signal is detected, a braking torque is calculated according to the brake pedal signal and the vehicle speed, and the electric drive system is controlled according to the braking torque.
And further, judging whether the anti-lock braking system is activated or not according to the detected vehicle speed, the rotating speed of the driving wheel and the rotating speed of the non-driving wheel.
Correspondingly, the invention also provides a braking energy recovery system of the electric automobile, which comprises a controller, wherein the controller is connected with a brake pedal sensor, an electric drive system and an anti-lock braking system;
the anti-lock braking system is used for detecting the speed of the vehicle, the rotating speed of a driving wheel and the rotating speed of a non-driving wheel;
the brake pedal sensor is used for detecting the opening degree of a brake pedal;
the electric drive system is used for outputting torque;
the controller stores instructions to implement the method of: when the activation of the anti-lock braking system is detected, the required braking torque is calculated according to the rotating speeds of the driving wheels and the non-driving wheels, and the electric drive system carries out power generation braking according to the required braking torque so that the rotating speed difference between the driving wheels and the non-driving wheels is not larger than a set value.
Further, the set value is 10 rpm.
Further, the controller stores instructions for implementing the following method: when detecting that the brake anti-lock braking system is not activated and detecting a brake pedal signal, calculating brake torque according to the brake pedal signal and the vehicle speed, and controlling the electric drive system according to the brake torque.
Further, the anti-lock braking system determines whether to be activated according to the detected vehicle speed, the rotation speed of the driving wheel and the rotation speed of the non-driving wheel and transmits the activated state to the controller.
The invention has the beneficial effects that: the electric drive system is controlled to output the braking torque, so that the rotating speed difference between the driving wheel and the non-driving wheel is not larger than a set value, the motor of the electric automobile continuously inputs current to the battery when the anti-lock braking system works (when the wheel is locked), the recovery of braking energy is realized to the maximum extent under the condition of ensuring that the wheel is not locked, the driving range is increased, the sudden change of the braking torque is reduced, and the smooth performance of the automobile is also contributed to a certain extent.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
fig. 2 is a block diagram of an embodiment of the system of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention provides a method and a system for recovering braking energy of an electric automobile, aiming at solving the problem that the braking energy cannot be recovered when an anti-lock braking system operates.
FIG. 1 is a flow chart of a method of the present invention, comprising:
the automobile enters a braking state;
judging whether a brake anti-lock system is activated or not, and if not, calculating brake torque according to the opening degree of a brake pedal and the vehicle speed; if the brake anti-lock system is activated, calculating brake torque according to the difference of the rotating speeds of the driving wheel and the non-driving wheel;
the electric drive system outputs a braking torque.
Fig. 2 is a block diagram of an embodiment of the system according to the present invention, which includes a vehicle controller connected to a brake pedal opening sensor, an electric drive system, and an anti-lock braking system. The information that vehicle control unit obtained through the CAN bus includes: the working state of the anti-lock braking system, the rotating speed of a driving wheel, the rotating speed of a non-driving wheel, the vehicle speed, the rotating speed of a motor of the electric driving system, the current output torque and other information; the vehicle control unit obtains the opening information of the brake pedal through a hard wire.
The brake pedal opening sensor is used for collecting the opening of the brake pedal, and before the anti-lock system is in a working state, the vehicle controller calculates the brake torque according to the opening of the brake pedal collected by the brake pedal opening sensor and the vehicle speed.
When the anti-lock braking system is activated, the vehicle control unit is responsible for calculating the required electric braking torque according to the working state of the current anti-lock braking system and the rotating speed difference between the driving wheels and the non-driving wheels, and sending the required electric braking torque to the electric driving system through the CAN bus.
The anti-lock braking system is responsible for calculating the current vehicle speed and collecting the rotating speeds of the driving wheels and the non-driving wheels, the information is sent to the vehicle control unit through the CAN bus, whether the anti-lock braking system is started or not is judged according to the vehicle speed and the rotating speeds of the wheels, and when the anti-lock braking function is activated, an activated state is sent to the vehicle control unit.
And the electric drive system outputs braking torque according to the required braking torque calculated by the vehicle control unit and simultaneously generates electricity to charge the battery pack.
When a driver needs to decelerate, the driver steps on a brake pedal, a brake pedal opening sensor transmits a signal to the vehicle control unit, and the vehicle control unit calculates a braking torque according to the brake pedal opening and the current vehicle speed and sends the braking torque to the electric drive system for power generation.
And if the driving wheel is about to be locked, the anti-lock braking system enters a working state at the moment, and the anti-lock braking activation is sent to the whole vehicle controller through the CAN bus.
The vehicle control unit recalculates the required braking torque according to the rotating speed of the driving wheels and the rotating speed of the non-driving wheels, and sends the required braking torque to the electric driving system through the CAN bus. The torque control target is a speed difference between the rotation speed of the drive wheels and the rotation speed of the non-drive wheels within 10 rpm.
The electric drive system sends braking demand torque to adjust braking torque according to the finished vehicle controller, so that the rotating speed of the driving wheels and the rotating speed of the non-driving wheels gradually realize that the driving wheels are in a non-locking state, and meanwhile, the battery pack is charged, and the driving range of the vehicle is improved.
The above provides a specific embodiment related to the invention, and the electric motor of the electric automobile continues to input current to the battery when the anti-lock braking system works by controlling the electric drive system to output braking torque so that the rotating speed difference between the driving wheel and the non-driving wheel is not greater than the set value.
However, the present invention is not limited to the described embodiments, and for example, other specific manners for determining whether the anti-lock braking system is activated or not, or for acquiring the vehicle speed or the rotational speed are adopted, and the technical solution formed by performing the fine adjustment on the above embodiments still falls into the protection scope of the present invention.
Claims (8)
1. A method for recovering braking energy of an electric automobile is characterized by comprising the following steps: when the activation of the anti-lock braking system is detected, the required braking torque is calculated according to the rotating speeds of the driving wheels and the non-driving wheels, and the electric drive system carries out power generation braking according to the required braking torque so that the rotating speed difference between the driving wheels and the non-driving wheels is not larger than a set value.
2. The method for recovering braking energy of the electric automobile according to claim 1, wherein: the set point was 10 rpm.
3. The method for recovering braking energy of the electric automobile according to claim 1 or 2, characterized in that: when detecting that the brake anti-lock braking system is not activated and detecting a brake pedal signal, calculating brake torque according to the brake pedal signal and the vehicle speed, and controlling the electric drive system according to the brake torque.
4. The method for recovering braking energy of the electric automobile according to claim 3, wherein: and judging whether the anti-lock braking system is activated or not according to the detected vehicle speed, the rotation speed of the driving wheel and the rotation speed of the non-driving wheel.
5. The utility model provides an electric automobile braking energy recovery system which characterized in that: the brake system comprises a controller, a brake pedal sensor, an electric drive system and an anti-lock brake system, wherein the controller is connected with the brake pedal sensor, the electric drive system and the anti-lock brake system;
the brake anti-lock system is used for detecting the speed of the vehicle, the rotating speed of a driving wheel and the rotating speed of a non-driving wheel;
the brake pedal sensor is used for detecting the opening degree of a brake pedal;
the electric drive system is used for outputting torque;
the controller stores instructions to implement the method of: when the activation of the anti-lock braking system is detected, the required braking torque is calculated according to the rotating speeds of the driving wheels and the non-driving wheels, and the electric drive system carries out power generation braking according to the required braking torque so that the rotating speed difference between the driving wheels and the non-driving wheels is not larger than a set value.
6. The electric vehicle braking energy recovery system of claim 5, wherein: the set point was 10 rpm.
7. The electric automobile braking energy recovery system of claim 5 or 6, wherein: the controller also stores instructions to implement the method of: when detecting that the brake anti-lock braking system is not activated and detecting a brake pedal signal, calculating brake torque according to the brake pedal signal and the vehicle speed, and controlling the electric drive system according to the brake torque.
8. The electric vehicle braking energy recovery system of claim 7, wherein: the anti-lock braking system judges whether to be activated or not according to the detected vehicle speed, the rotating speed of the driving wheel and the rotating speed of the non-driving wheel and sends the activated state to the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711172416.1A CN109808501B (en) | 2017-11-22 | 2017-11-22 | Method and system for recovering braking energy of electric automobile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711172416.1A CN109808501B (en) | 2017-11-22 | 2017-11-22 | Method and system for recovering braking energy of electric automobile |
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| Publication Number | Publication Date |
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| CN109808501A CN109808501A (en) | 2019-05-28 |
| CN109808501B true CN109808501B (en) | 2022-08-02 |
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| KR20080037342A (en) * | 2006-10-26 | 2008-04-30 | 현대자동차주식회사 | Method for control regenerative braking of electric vehicle |
| JP2013018332A (en) * | 2011-07-11 | 2013-01-31 | Suzuki Motor Corp | Regenerative brake control device for vehicle |
| JP2014079099A (en) * | 2012-10-11 | 2014-05-01 | Ntn Corp | Antilock brake control system for vehicle mounted with motors |
| CN105189220A (en) * | 2013-03-28 | 2015-12-23 | 本田技研工业株式会社 | Vehicular brake system |
| CN106585389A (en) * | 2015-10-20 | 2017-04-26 | 北汽福田汽车股份有限公司 | Electric vehicle, electric vehicle regenerative braking control method and device |
| CN106627171A (en) * | 2017-01-12 | 2017-05-10 | 重庆长安汽车股份有限公司 | Torque recycling control method and control system of pure electric vehicle |
-
2017
- 2017-11-22 CN CN201711172416.1A patent/CN109808501B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080037342A (en) * | 2006-10-26 | 2008-04-30 | 현대자동차주식회사 | Method for control regenerative braking of electric vehicle |
| JP2013018332A (en) * | 2011-07-11 | 2013-01-31 | Suzuki Motor Corp | Regenerative brake control device for vehicle |
| JP2014079099A (en) * | 2012-10-11 | 2014-05-01 | Ntn Corp | Antilock brake control system for vehicle mounted with motors |
| CN105189220A (en) * | 2013-03-28 | 2015-12-23 | 本田技研工业株式会社 | Vehicular brake system |
| CN106585389A (en) * | 2015-10-20 | 2017-04-26 | 北汽福田汽车股份有限公司 | Electric vehicle, electric vehicle regenerative braking control method and device |
| CN106627171A (en) * | 2017-01-12 | 2017-05-10 | 重庆长安汽车股份有限公司 | Torque recycling control method and control system of pure electric vehicle |
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| CN109808501A (en) | 2019-05-28 |
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