CN111284495A - New energy automobile regenerative braking force distribution method - Google Patents
New energy automobile regenerative braking force distribution method Download PDFInfo
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- CN111284495A CN111284495A CN202010139123.9A CN202010139123A CN111284495A CN 111284495 A CN111284495 A CN 111284495A CN 202010139123 A CN202010139123 A CN 202010139123A CN 111284495 A CN111284495 A CN 111284495A
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- 230000001172 regenerating effect Effects 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000011084 recovery Methods 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18127—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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
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- Automation & Control Theory (AREA)
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a new energy automobile regenerative braking force distribution method, and belongs to the technical field of new energy automobiles. The method comprises the following steps: s1, distributing the total braking force to the front wheel and the rear wheel, and distributing the braking force to the rear wheel as much as possible on the premise of considering safety and braking stability; and S2, dividing the distributed total braking force of the rear wheel into the friction braking force of the rear wheel and the braking force of the motor, distributing the total braking force of the rear wheel to the motor as much as possible under the condition that the motor can meet the braking requirement, and compensating by the friction braking force of the rear wheel when the motor braking can not meet the requirement. The invention can give full play to the braking capability of the motor and realize high-efficiency braking energy recovery.
Description
Technical Field
The invention relates to the technical field of new energy automobiles, in particular to a method for distributing regenerative braking force of a new energy automobile.
Background
The traditional fuel oil automobile adopts mechanical friction force to brake, the new energy automobile can brake the automobile through the motor anti-dragging torque, meanwhile, the motor generates electricity, and the generated electric energy is stored in the battery, so that the energy consumption of the automobile is saved. The existing new energy commercial vehicle adopts a regenerative braking force distribution method which generally distributes a braking force ratio fixed for front wheels and rear wheels and superposes a motor braking force method for the rear wheels. The method has the advantages that the original braking system is slightly changed, and the defects that the braking capability of the motor cannot be fully exerted, so that the recovery efficiency of the braking energy is low, and the danger of losing the braking can also occur under individual extreme working conditions.
Disclosure of Invention
The invention aims to provide a new energy automobile regenerative braking force distribution method, which gives full play to the braking capability of a motor and realizes efficient braking energy recovery.
In order to realize the purpose, the following technical scheme is provided:
the new energy automobile regenerative braking force distribution method comprises the following steps:
s1, distributing the total braking force to the front wheel and the rear wheel, and distributing the braking force to the rear wheel as much as possible on the premise of considering safety and braking stability;
and S2, dividing the distributed total braking force of the rear wheel into the friction braking force of the rear wheel and the braking force of the motor, distributing the total braking force of the rear wheel to the motor as much as possible under the condition that the motor can meet the braking requirement, and compensating by the friction braking force of the rear wheel when the motor braking can not meet the requirement.
Further, step S1 includes:
0≤z<k1the regenerative braking force distribution curve 1 is: ff＝0，Fr＝G·z；
k1≤z<k2The regenerative braking force distribution curve 2 is: ff＝G·z-k1·，Fr＝k1·；
k2When z is less than or equal to z, the regenerative braking force distribution curve 3 is as follows: ff+Fr＝G·z，
Wherein z is the braking strength, FfFor total front wheel braking force, FrFor the total braking force of the rear wheels, the abscissa of the regenerative braking force distribution curve 1, the regenerative braking force distribution curve 2 and the regenerative braking force distribution curve 3 is the total braking force F of the front wheelsfThe ordinate is the total braking force F of the rear wheelrG is steamThe total weight of the automobile, a is the distance from the mass center of the automobile to the front axle, b is the distance from the mass center of the automobile to the rear axle, and hgIs the height of the center of mass, k, of the automobile1The calibration is carried out, the regenerative braking force distribution curve 2 is parallel to the horizontal axis of the regenerative braking force distribution curve 3, the intersection point of the regenerative braking force distribution curve 2 and the regenerative braking force distribution curve 3 is a point O, k2The braking strength at the point O on the regenerative braking force distribution curve 3.
Further, k is1Is 0.15.
Further, step S2 includes:
Fr≤FTmaxwhen F is presentT＝Fr，FM＝0；
FTmax<FrWhen F is presentT＝FTmax，FM＝FR-FT；
Wherein, FTmaxMaximum braking force available to the motor, FTFor powering electric machines, FMIs the rear wheel friction braking force.
Further, step S2 further includes:
when the motor fails to provide braking force, FT＝0，FM＝Fr。
Further, the new energy automobile is a 4 x 2 type rear-drive automobile.
The invention has the beneficial effects that:
the new energy automobile regenerative braking force distribution method provided by the invention distributes the total braking force of the whole automobile to the front wheels and the rear wheels, distributes the total braking force to the rear wheels as much as possible on the premise of considering safety and braking stability, and further distributes the total braking force of the rear wheels to the motor as much as possible, so that the braking capability of the motor is fully exerted, and the high-efficiency braking energy recovery is realized; the generated braking deceleration is consistent with the deceleration expectation of the driver, and the braking stability is higher.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a flowchart of a method for distributing regenerative braking force of a new energy vehicle according to an embodiment of the invention;
fig. 2 is a schematic diagram of a regenerative braking force distribution curve 1, a curve 2, and a curve 3 according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable 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 meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Fig. 1 is a flowchart of a method for distributing regenerative braking force of a new energy vehicle according to this embodiment. The new energy automobile regenerative braking force distribution method is suitable for automobiles in a rear-drive mode, such as 4 x 2 type rear-drive automobiles. As shown in fig. 1, the new energy vehicle regenerative braking force distribution method includes the following steps:
and S1, distributing the total braking force to the front wheels and the rear wheels, and distributing the braking force to the rear wheels as much as possible on the premise of considering safety and braking stability.
The sensor can be installed at the brake pedal to measure the stroke of the brake pedal, so as to determine the braking demand of the driver, and further determine the total braking force required by the whole vehicle by combining the factors such as the weight of the whole vehicle and the like, which is the prior art and is not described herein again.
Under the condition of safety and anti-lock prevention, the braking force is distributed to the rear wheels as much as possible, and the specific distribution method is as follows in combination with the figure 2:
according to the magnitude of the braking strength z, three conditions are respectively as follows:
the first condition is as follows: z is more than or equal to 0<At k1, the regenerative braking force distribution curve 1 is: ff＝0，Fr＝G·z。
Wherein k is1Is a constant, calibratable, FfFor total front wheel braking force, FrThe rear wheel total braking force, G is the total vehicle weight, and the abscissa of the regenerative braking force distribution curve 1 (segment AB in FIG. 2) is the front wheel total braking force FfThe ordinate is the total braking force F of the rear wheelr。
That is, when the braking strength z is small, the total braking force is distributed to the rear wheels, the total braking force of the rear wheels is equal to the total braking force of the whole vehicle, and the total braking force of the front wheels is zero. In addition, k is1The value is mainly taken into consideration of the braking safety of the vehicle, so that the anti-lock situation is prevented. Alternatively, k1The value of (b) may be 0.15, 0.13, 0.16, etc.
Case two: k is a radical of1≤z<k2The regenerative braking force distribution curve 2 is: ff＝G·z-k1·G，Fr＝k1·G。
The abscissa of the regenerative braking force distribution curve 2 (BO segment in fig. 2) is the front wheel total braking force FfThe ordinate is the total braking force F of the rear wheelr. In the case of a relatively high braking intensity z, the braking is provided by both the front and rear wheels, and the total braking force of the rear wheel remains unchanged, and the total braking force of the front wheel gradually increases from zero.
Case three: k is a radical of2When z is less than or equal to z, the regenerative braking force distribution curve 3 is as follows: ff+Fr＝G·z，
The abscissa of the regenerative braking force distribution curve 3 is the total front wheel braking force FfThe ordinate is the total braking force F of the rear wheelr. a is the distance from the center of mass of the automobile to the front axle, b is the distance from the center of mass of the automobile to the rear axle, and hgIs the height of the center of mass of the automobile. When the braking strength z is high, the braking force distribution of the front and rear wheels is performed according to the regenerative braking force distribution curve 3.
In addition, k is2The determination method comprises the following steps: under the same coordinate system, the regenerative braking force distribution curve 2 is parallel to the horizontal axis of the regenerative braking force distribution curve 3, the intersection point of the regenerative braking force distribution curve 2 and the regenerative braking force distribution curve 3 is a point O, k2The braking strength at the point O on the regenerative braking force distribution curve 3.
And S2, dividing the total rear wheel braking force obtained by distribution into rear wheel friction braking force and motor braking force, distributing the rear wheel braking force to the motor as much as possible under the condition that the motor can meet the braking requirement, and compensating by the rear wheel friction braking force when the motor braking force does not meet the requirement.
In the case where the rear axle is allocated as much braking force as possible, the method of dividing the total braking force of the rear wheels into the rear wheel friction braking force and the motor braking force and allocating the braking force to the motor as much as possible includes the following specific cases:
the first condition is as follows: fr≤FTmaxWhen F is presentT＝Fr，FM＝0。
Wherein, FTmaxMaximum braking force available to the motor, FTFor powering electric machines, FMIs the rear wheel friction braking force. Under the condition that the motor can meet the braking requirement, the braking force of the rear wheel is distributed to the motor as much as possible, the braking capacity of the motor is fully exerted, and efficient braking energy recovery is realized.
Case two: fTmax<FrWhen F is presentT＝FTmax，FM＝FR-FT。
Namely, when the total braking force of the rear wheels distributed to the rear axle is large and the motor is not enough to meet the braking requirement, the motor brake and the rear wheel friction brake work simultaneously.
Further, there may also be a case three: when the motor fails to provide braking force, FT＝0，FM＝Fr。
When the motor can not provide braking force for some reason, the rear wheel friction meets the requirement of rear axle braking force.
In the method for distributing the regenerative braking force of the new energy automobile provided by the embodiment, the total braking force of the whole automobile is distributed to the front wheels and the rear wheels, the total braking force is distributed to the rear wheels as much as possible on the premise of considering safety and braking stability, and the total braking force of the rear wheels is further distributed to the motor as much as possible, so that the braking capability of the motor is fully exerted, and efficient braking energy recovery is realized; the generated braking deceleration is consistent with the deceleration expectation of the driver, and the braking stability is higher.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (6)
1. A new energy automobile regenerative braking force distribution method is characterized by comprising the following steps:
s1, distributing the total braking force to the front wheel and the rear wheel, and distributing the braking force to the rear wheel as much as possible on the premise of considering safety and braking stability;
and S2, dividing the distributed total braking force of the rear wheel into the friction braking force of the rear wheel and the braking force of the motor, distributing the total braking force of the rear wheel to the motor as much as possible under the condition that the motor can meet the braking requirement, and compensating by the friction braking force of the rear wheel when the motor braking can not meet the requirement.
2. The new energy vehicle regenerative braking force distribution method according to claim 1, wherein step S1 includes:
0≤z<k1the regenerative braking force distribution curve 1 is: ff＝0，Fr＝G·z；
k1≤z<k2The regenerative braking force distribution curve 2 is: ff＝G·z-k1·G，Fr＝k1·G；
k2When z is less than or equal to z, the regenerative braking force distribution curve 3 is as follows: ff+Fr＝G·z，
Wherein z is the braking strength, FfFor total front wheel braking force, FrFor the total braking force of the rear wheels, the abscissa of the regenerative braking force distribution curve 1, the regenerative braking force distribution curve 2 and the regenerative braking force distribution curve 3 is the total braking force F of the front wheelsfThe ordinate is the total braking force F of the rear wheelrG is the total weight of the automobile, a is the distance from the mass center of the automobile to the front axle, b is the distance from the mass center of the automobile to the rear axle, and hgIs the height of the mass center of the automobileDegree, k1The calibration is carried out, the regenerative braking force distribution curve 2 is parallel to the horizontal axis of the regenerative braking force distribution curve 3, the intersection point of the regenerative braking force distribution curve 2 and the regenerative braking force distribution curve 3 is a point O, k2The braking strength at the point O on the regenerative braking force distribution curve 3.
3. The new energy vehicle regenerative braking force distribution method according to claim 2, characterized in that k is1Is 0.15.
4. The new energy vehicle regenerative braking force distribution method according to claim 2, wherein step S2 includes:
Fr≤FTmaxwhen F is presentT＝Fr，FM＝0；
FTmax<FrWhen F is presentT＝FTmax，FM＝FR-FT；
Wherein, FTmaxMaximum braking force available to the motor, FTFor powering electric machines, FMIs the rear wheel friction braking force.
5. The new energy vehicle regenerative braking force distribution method according to claim 4, wherein step S2 further includes:
when the motor fails to provide braking force, FT＝0，FM＝Fr。
6. The new energy automobile regenerative braking force distribution method according to claim 1, characterized in that the new energy automobile is a 4 x 2 type rear drive automobile.
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Cited By (3)
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| CN112477610A (en) * | 2020-12-11 | 2021-03-12 | 一汽解放汽车有限公司 | New energy automobile and regenerative braking force distribution method thereof |
| CN114771271A (en) * | 2022-05-20 | 2022-07-22 | 安徽工程大学 | Pure electric vehicle regenerative braking force distribution optimization method |
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