CN111361547B - Energy recovery control method for pure electric rear wheel drive automobile - Google Patents

Energy recovery control method for pure electric rear wheel drive automobile Download PDF

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CN111361547B
CN111361547B CN202010205699.0A CN202010205699A CN111361547B CN 111361547 B CN111361547 B CN 111361547B CN 202010205699 A CN202010205699 A CN 202010205699A CN 111361547 B CN111361547 B CN 111361547B
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energy recovery
vehicle
torque
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wheel
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CN111361547A (en
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王功博
魏广杰
游道亮
韩雪雯
胡会永
彭永涛
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Jiangling Motors Corp Ltd
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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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
    • B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
    • 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
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention relates to the field of electric automobile control, and provides a brand-new energy recovery control method for a pure electric rear drive. When the vehicle is in a sliding or braking state, the motor achieves a part of braking effect by applying reverse torque and charges the battery so as to reduce power consumption and improve the economy of the whole vehicle. Meanwhile, the intensity of energy recovery of the driving wheels is scientifically controlled, so that the situation that the driving wheels are locked in the energy recovery process of the vehicle is avoided, and the safety of the whole vehicle is improved.

Description

Energy recovery control method for pure electric rear wheel drive automobile
Technical Field
The invention relates to the field of electric vehicle control, in particular to an energy recovery control method for a pure electric rear wheel drive vehicle.
Background
With the rapid development of new energy automobile technology, the automobile market share of pure electric vehicles increases year by year, and commercial vehicles generally adopt a rear wheel drive driving mode due to the limitation of various factors such as self structure, cost and the like. Meanwhile, the driving mileage of the vehicle is improved by adopting a sliding and braking energy recovery mode, and the power consumption is reduced.
The energy recovery strategy of the conventional electric rear-drive vehicle determines the driving state of the vehicle according to an accelerator pedal position sensor and a brake switch, and applies a constant reverse torque to brake a driving wheel through a motor when the intention of a driver to coast or brake is detected. However, in the actual driving process, the strategy can cause the situation that the rear wheels (driving wheels) are easy to slip or even lock when the vehicle runs on a low-attachment road surface in a no-load mode, the safety of the whole vehicle is greatly influenced, and if the energy recovery force is simply reduced, the safety can be ensured to a certain extent, but the economical efficiency of the vehicle is lost. .
Disclosure of Invention
The invention aims to solve the problem that a driving wheel of a pure electric rear drive vehicle slips or is locked in the processes of sliding and braking energy recovery. A brand-new energy recovery control method is provided for a pure electric rear drive vehicle, so that the vehicle can achieve the balance of economy and safety. The specific technical scheme is as follows:
a pure electric rear wheel drive automobile energy recovery control method comprises the following steps:
(1) judging the residual electric quantity of the storage battery, and forbidding the energy recovery function when the SOC value is more than 95%; when the SOC value is less than or equal to 95%, the energy recovery function is in an openable state;
(2) judging the vehicle speed, and forbidding the energy recovery function when the vehicle speed is less than 20 Km/h; when the vehicle speed is more than or equal to 20Km/h, the energy recovery function is started;
(3) judging the running state of the automobile, and forbidding the energy recovery function when the automobile is in an acceleration state; when the vehicle is in a sliding mode, torque is recovered according to a sliding energy recovery mode; when the vehicle is in a braking state, torque is recovered according to a braking energy recovery mode;
(4) when sliding or braking energy recovery is carried out, the anti-lock system monitors the rotating speed of the driving wheel in real time, and when the rotating speed of the driving wheel is lower than the vehicle speed, the energy recovery mode is immediately exited;
(5) and (4) when one of the conditions that a certain time period is passed or the accelerator pedal is detected to be stepped on is met, the step (3) is re-entered for judgment processing.
Further, the coasting state is not receiving signals that an accelerator pedal and a brake pedal are pressed; the braking state is that the signal that the accelerator pedal is stepped on is not received, and the signal that the brake pedal is stepped on is received; the acceleration state is that the signal that the brake pedal is pressed is not received, and the signal that the accelerator pedal is pressed is received.
Further, the energy recovery torque T in the coasting energy recovery mode is calculated in the following manner:
Figure DEST_PATH_IMAGE001
in the formula: phi is the road adhesion coefficient, G is the vehicle weight, a is the distance from the center of mass to the front axle, L is the vehicle wheelbase, hg is the height of the center of mass of the vehicle, and r is the wheel radius. The values of a, L, hg and r are determined by the design parameters of the electric vehicle, and G is the vehicle weight under the condition of no load of the electric vehicle in order to ensure the safety of the electric vehicle under any load condition. The value of the road surface adhesion coefficient phi is calibrated according to the road condition environment that the electric vehicle frequently runs so as to ensure that the condition that the driving wheel slips because the braking recovery force is greater than the road surface adhesion force can not occur during the sliding energy recovery work in most road condition environments.
Further, the energy recovery torque in the braking energy recovery mode is calculated in three sections:
(a) when F is presentμ2≤Fxb2h，F2= Fxb2hIn the time, the energy recovery torque T is calculated in the following manner:
Figure 648809DEST_PATH_IMAGE002
in the formula: fμ2For rear-wheel mechanical braking force, Fxb2hFor rear wheel energy recovery, F2The total braking force of the driving wheel, namely the sum of the energy recovery force and the mechanical braking force, and r is the radius of the wheel;
(b) when F is presentμ2≥Fxb2hAnd satisfy
Figure DEST_PATH_IMAGE003
The calculation method of the energy recovery torque is as follows:
Figure 84469DEST_PATH_IMAGE004
in the formula: g is the vehicle weight, hg is the height of the center of mass, b is the distance from the center of mass to the rear axle, L is the wheelbase, Fμ2The brake distribution coefficient is beta, and r is the radius of the wheel;
(c) when F is presentμ2Satisfy the requirement of
Figure 544532DEST_PATH_IMAGE005
When the energy recovery torque T = 0.
The invention provides a brand-new energy recovery control method for a pure electric rear drive vehicle. When the vehicle is in a sliding or braking state, the motor achieves a part of braking effect by applying reverse torque and charges the battery so as to reduce power consumption and improve the economy of the whole vehicle. Meanwhile, the intensity of energy recovery of the driving wheels is scientifically controlled, so that the situation that the driving wheels are locked in the energy recovery process of the vehicle is avoided, and the safety of the whole vehicle is improved.
Drawings
FIG. 1 is a flow chart of an energy recovery control method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, 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.
The method comprises the steps of firstly judging the electric quantity of a battery, disabling an energy recovery function when the SOC value is higher than 95%, and entering the next step when the SOC value is lower than 95%.
And judging the vehicle speed, forbidding the energy recovery function when the vehicle speed is less than 20Km/h, and entering the next step when the vehicle speed is more than 20 Km/h.
And judging the current running mode, and judging the current running mode as an acceleration mode when detecting that an accelerator pedal is pressed, wherein the energy recovery function is disabled in the acceleration mode.
Determining a coasting mode when it is detected that neither the accelerator pedal nor the brake pedal is depressed, in which mode the energy recovery torque is:
Figure 495170DEST_PATH_IMAGE006
in the formula, phi is a road adhesion coefficient, G is a vehicle weight, a is a distance from a center of mass to a front axle, L is a vehicle wheelbase, hg is a height of the center of mass of the vehicle, and r is a wheel radius of the electric vehicle.
When the brake pedal is detected to be pressed down, the brake mode is determined, and the energy recovery torque in the mode is calculated in three sections. (a) determining a first mode when the rear wheel mechanical braking force is less than the coasting energy recovery force, in which the energy recovery torque is:
Figure 377676DEST_PATH_IMAGE007
Fxb2hthe energy recovery force of the rear wheel can be obtained according to the opening degree of a brake pedal; fxb2hThe rear wheel energy recovery force, r is the wheel radius.
(b) When the mechanical braking force of the rear wheel is larger than the sliding energy recovery force and meets the requirements
Figure 730159DEST_PATH_IMAGE008
The energy recovery torque is:
Figure 610391DEST_PATH_IMAGE009
wherein G is the vehicle weight, hg is the height of the center of mass, b is the distance from the center of mass to the rear axle, L is the wheelbase, Fμ2Beta is the brake distribution coefficient and r is the wheel radius for the rear wheel mechanical braking force.
When it is satisfied with
Figure 48325DEST_PATH_IMAGE005
At time, the energy recovery torque is zero.
And when the sliding and braking energy recovery is carried out, the anti-lock system monitors the rotating speed of the driving wheel in real time, if the rotating speed of the driving wheel is lower than the vehicle speed, the wheel is judged to have a sliding condition, the energy recovery mode is immediately exited, and the step of judging the driving mode is repeated when one of the conditions that a certain time period is passed or the condition that the accelerator pedal is stepped on is met.
Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.

Claims (2)

1. The energy recovery control method for the pure electric rear wheel drive automobile is characterized by comprising the following steps of: the method comprises the following steps:
(1) judging the residual electric quantity of the storage battery, and forbidding the energy recovery function when the SOC value is more than 95%; when the SOC value is less than or equal to 95%, the energy recovery function is in an openable state;
(2) judging the vehicle speed, and forbidding the energy recovery function when the vehicle speed is less than 20 Km/h; when the vehicle speed is more than or equal to 20Km/h, the energy recovery function is started;
(3) judging the running state of the automobile, and forbidding the energy recovery function when the automobile is in an acceleration state; when the vehicle is in a sliding mode, torque is recovered according to a sliding energy recovery mode; when the vehicle is in a braking state, torque is recovered according to a braking energy recovery mode;
(4) when sliding or braking energy recovery is carried out, the anti-lock system monitors the rotating speed of the driving wheel in real time, and when the rotating speed of the driving wheel is lower than the vehicle speed, the energy recovery mode is immediately exited;
(5) when one of the conditions that a certain time period is passed or the accelerator pedal is detected to be stepped on is met, the step (3) is re-entered for judgment processing;
the calculation mode of the energy recovery torque T in the sliding energy recovery mode is as follows:
Figure 829174DEST_PATH_IMAGE001
in the formula: phi is the road surface adhesion coefficient, G is the vehicle weight, a is the distance from the center of mass to the front axle, L is the vehicle wheelbase, hg is the height of the center of mass of the vehicle, and r is the wheel radius;
the energy recovery torque in the braking energy recovery mode is calculated in three sections:
(a) when F is presentμ2≤Fxb2h，F2= Fxb2hIn the time, the energy recovery torque T is calculated in the following manner:
Figure 683998DEST_PATH_IMAGE002
in the formula: fμ2For rear-wheel mechanical braking force, Fxb2hFor rear wheel energy recovery, F2The total braking force of the driving wheel, namely the sum of the energy recovery force and the mechanical braking force, and r is the radius of the wheel;
(b) when F is presentμ2≥Fxb2hAnd satisfy
Figure 463735DEST_PATH_IMAGE003
The calculation method of the energy recovery torque is as follows:
Figure 858944DEST_PATH_IMAGE004
in the formula: g is the vehicle weight, hg is the height of the center of mass, b is the distance from the center of mass to the rear axle, L is the wheelbase, Fμ2The brake distribution coefficient is beta, and r is the radius of the wheel;
(c) when F is presentμ2Satisfy the requirement of
Figure 611000DEST_PATH_IMAGE005
When the energy recovery torque T = 0.
2. The energy recovery control method of the pure electric rear wheel drive automobile according to claim 1, characterized in that: the sliding state is not receiving signals that an accelerator pedal and a brake pedal are stepped; the braking state is that the signal that the accelerator pedal is stepped on is not received, and the signal that the brake pedal is stepped on is received; the acceleration state is that the signal that the brake pedal is pressed is not received, and the signal that the accelerator pedal is pressed is received.
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Publication number Priority date Publication date Assignee Title
CN114148177B (en) * 2020-09-04 2024-01-23 广汽埃安新能源汽车有限公司 Automatic adjustment method and device for charging cut-off point
CN112606702B (en) * 2020-11-30 2022-06-03 江铃汽车股份有限公司 Energy recovery control method and system, storage medium and computer equipment

Citations (7)

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Publication number Priority date Publication date Assignee Title
US5318142A (en) * 1992-11-05 1994-06-07 Ford Motor Company Hybrid drive system
US5923093A (en) * 1996-07-02 1999-07-13 Toyota Jidosha Kabushiki Kaisha Hybrid vehicle drive system adapted to assure smooth brake application by motor/generator or engine
CN103359116A (en) * 2013-07-29 2013-10-23 重庆长安汽车股份有限公司 Method and system for controlling dynamic gear and economical gear of pure electric automobile
CN105437962A (en) * 2014-09-26 2016-03-30 比亚迪股份有限公司 Hybrid electric vehicle and energy feedback control method and power transmission system
CN107199893A (en) * 2017-05-27 2017-09-26 北京新能源汽车股份有限公司 Energy recovery method and device
CN108688474A (en) * 2018-03-22 2018-10-23 刘清河 Braking energy of electric automobiles recycles control algolithm
CN109278566A (en) * 2018-10-15 2019-01-29 陕西汽车集团有限责任公司 Rear wheel drive pure electric vehicle Brake energy recovery control method and device

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5318142A (en) * 1992-11-05 1994-06-07 Ford Motor Company Hybrid drive system
US5923093A (en) * 1996-07-02 1999-07-13 Toyota Jidosha Kabushiki Kaisha Hybrid vehicle drive system adapted to assure smooth brake application by motor/generator or engine
CN103359116A (en) * 2013-07-29 2013-10-23 重庆长安汽车股份有限公司 Method and system for controlling dynamic gear and economical gear of pure electric automobile
CN105437962A (en) * 2014-09-26 2016-03-30 比亚迪股份有限公司 Hybrid electric vehicle and energy feedback control method and power transmission system
CN107199893A (en) * 2017-05-27 2017-09-26 北京新能源汽车股份有限公司 Energy recovery method and device
CN108688474A (en) * 2018-03-22 2018-10-23 刘清河 Braking energy of electric automobiles recycles control algolithm
CN109278566A (en) * 2018-10-15 2019-01-29 陕西汽车集团有限责任公司 Rear wheel drive pure electric vehicle Brake energy recovery control method and device

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