CN111497803A - Electronic and mechanical composite braking ABS control method and system for hub motor - Google Patents
Electronic and mechanical composite braking ABS control method and system for hub motor Download PDFInfo
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- CN111497803A CN111497803A CN202010302353.2A CN202010302353A CN111497803A CN 111497803 A CN111497803 A CN 111497803A CN 202010302353 A CN202010302353 A CN 202010302353A CN 111497803 A CN111497803 A CN 111497803A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
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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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- 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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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention relates to the technical field of automobile control, in particular to an electronic and mechanical composite braking ABS control method and system for a hub motor. Setting a super capacitor energy management unit, detecting whether a brake pedal is stepped on, entering a braking mode if the brake pedal is stepped on, and controlling an EMB controller to perform mechanical braking by an ABS controller if the electric quantity of the super capacitor is greater than a set electric quantity threshold value; if the electric quantity of the super capacitor is not greater than the set electric quantity threshold value and the braking force required by each wheel is smaller than the maximum regenerative braking force which can be provided by the motor, the ABS controller controls the motor controller to perform regenerative braking; and if the electric quantity of the super capacitor is not greater than the set electric quantity threshold value and the braking force required by one or more wheels is not less than the maximum regenerative braking force which can be provided by the motor, the ABS controller controls the motor controller and the EMB controller to carry out electromechanical composite braking. The high-power charging and discharging requirements of the hub motor are met, and the braking energy recovery is not limited to the limit of the battery charging power any more.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to an electronic and mechanical composite braking ABS control method and system for a hub motor.
Background
The Antilock Brake System (ABS) is called as an Antilock Brake System (ABS). The function of the device is that in the automobile braking process, according to the wheel speed change of each wheel, the braking pressure of four wheel cylinders is adjusted through the electromagnetic valve, so that good longitudinal and lateral adhesion characteristics are obtained, the wheels are not locked and are in a side-rolling and side-sliding state (the slip rate is about 20%), and the maximum ground adhesion of the wheels is ensured.
In the traditional braking scheme, based on the priority of braking, the ABS is in an energy recovery mode during intervention, the braking intention of a driver is completely executed by hydraulic braking, and the energy recovery rate is low; and the braking energy recovery only acts on the battery, is limited by the limitation of the charging power of the battery, has low energy recovery rate, and simultaneously the battery can not meet the high-power charging and discharging requirements of the hub motor. Furthermore, the hydraulic braking force cannot be precisely controlled and the hydraulic brake actuator response time is longer relative to electromechanical brake systems; meanwhile, due to the existence of brake fluid, after the brake fluid is excessively heated, part of the brake fluid can be vaporized, bubbles are formed in a pipeline, hydraulic transmission is seriously influenced, and the efficiency of a braking system is reduced or even completely failed.
In addition, the conventional ABS control requires a wheel speed detecting device to be installed on each wheel to measure the wheel speed of each wheel, and the wheel speed detecting device generally comprises many parts such as a magnetic encoder ring, a wheel speed sensor probe, a wire harness, a connector, a housing, and a fixing bolt, and the magnetic encoder ring integrated on the hub motor bearing increases the volume and weight of the hub bearing unit. And the magnetic encoding ring is very little with fast sensor probe radial clearance of wheel, because make with assembly error, use impact, protection level not enough etc. can make the magnetic encoding ring take place to scratch when rotating with the fast sensor probe of magnetic wheel, thereby can't monitor the fast leading to ABS system failure of car wheel correctly effectively, have the potential safety hazard. In addition, the probe of the wheel speed sensor is directly opposite to the magnetic coding ring, and a fixed point needs to be found for the probe of the wheel speed sensor in the tense wheel end space, so that the difficulty of integrating and carrying the wheel hub motor is increased.
Disclosure of Invention
The invention aims to provide an ABS control method and system for the electromechanical composite braking of a hub motor, which have the advantages of high energy recovery rate, few wheel end parts and low failure rate, aiming at the defects of the prior art.
The invention discloses an electronic and mechanical composite braking ABS control method for a hub motor, which adopts the technical scheme that: setting a super capacitor energy management unit, and monitoring the electric quantity of the super capacitor through a vehicle control unit;
an ABS control method for electromechanical combined braking of an in-wheel motor comprises the following steps:
detecting whether a brake pedal is stepped on, and if so, entering a braking mode under the braking mode;
if the electric quantity of the super capacitor is larger than the set electric quantity threshold value, the ABS controller controls the EMB controller to perform mechanical braking;
if the electric quantity of the super capacitor is not greater than the set electric quantity threshold value and the braking force required by each wheel is smaller than the maximum regenerative braking force which can be provided by the motor, the ABS controller controls the motor controller to perform regenerative braking;
if the electric quantity of the super capacitor is not larger than the set electric quantity threshold value and the braking force required by one or more wheels is not smaller than the maximum regenerative braking force provided by the motor, the ABS controller controls the motor controller and the EMB controller to perform electromechanical composite braking;
and updating the braking mode and the braking torque in real time in the braking mode until the braking mode is exited.
Preferably, the super capacitor or the vehicle-mounted battery is charged in the process of regenerative braking of the motor controller or electromechanical combined braking of the motor controller and the EMB controller, wherein the charging priority of the super capacitor is higher than that of the vehicle-mounted battery, and the power battery is charged only after the capacity of the super capacitor is fully charged, so that the service life of the vehicle-mounted battery can be prolonged to the maximum extent.
Preferably, after the braking action is executed, whether the vehicle achieves stable running or not is detected, if the vehicle does not achieve stable running, a signal is fed back to the vehicle control unit, and the braking strategy is updated in real time.
Preferably, after the braking action is executed, if the vehicle runs stably, whether the wheels tend to be locked is detected, and if so, a signal is fed back to the vehicle control unit to perform locking control.
Preferably, the braking force required for each wheel is determined by a vehicle speed of each wheel.
The invention discloses an electronic and mechanical composite braking ABS control system of a hub motor, which adopts the technical scheme that:
the device comprises a vehicle control unit, a pedal sensor, an ABS controller, an EMB controller and an EMB brake which are respectively corresponding to each wheel, a hub motor and a motor controller which are respectively corresponding to each wheel, an ABS wheel speed conversion module and a super capacitor energy management unit, wherein the vehicle speed signal output end of each motor controller is electrically connected with the vehicle speed signal input end of the vehicle control unit, the vehicle speed signal output end of the vehicle control unit is electrically connected with the vehicle speed signal input end of the ABS controller through the ABS wheel speed conversion module, the control signal output end of the ABS controller is electrically connected with the motor controller and the EMB controller, the control signal output end of the motor controller is electrically connected with the control signal input end of the hub motor, the control signal output end of the EMB controller is electrically connected with the control signal input end of the EMB brake, and the electric quantity signal output end of the super capacitor energy management unit is connected with the electric quantity signal input end of the vehicle control unit, the charging port of the super-capacitor energy management unit is connected with the hub motor, the pedal opening signal output end of the pedal sensor is electrically connected with the pedal opening signal input end of the vehicle controller, and the ABS wheel speed conversion module is used for converting millivolt standard sine voltage wheel speed signals sent by the vehicle controller into pulse square wave voltage signals recognizable by the ABS controller.
Preferably, the motor controller is integrated on the hub motor.
Preferably, the ABS wheel speed conversion module comprises an amplitude limiting circuit, an amplifying circuit, a filtering circuit and a shaping circuit.
The invention has the beneficial effects that: the scheme can meet the high-power charging and discharging requirements of the hub motor, and the braking energy recovery is not limited to the limitation of the battery charging power any more. Meanwhile, when the ABS is involved, the motor can still recover braking energy, and the insufficient part is supplemented by the EMB, so that the energy recovery efficiency is improved. The speed sensor is cancelled, millivolt standard sine voltage wheel speed signals sent to a CAN bus by a VCU are converted into pulse square wave voltage signals which CAN be identified by an ABS controller by utilizing an ABS wheel speed conversion module, original vehicle wiring does not need to be changed, the number of parts at the wheel end is reduced, the problem of scraping of a magnetic coding ring and a wheel speed sensor probe is avoided by colleagues, the failure probability of an ABS system is reduced, and the safety of a vehicle is improved. The motor controller is integrated on the hub motor, so that the layout space of the whole vehicle is greatly saved, a large number of wire harnesses are saved, and the layout work is simplified.
Drawings
FIG. 1 is a schematic connection diagram of an electronic mechanical composite braking ABS control system of a hub motor according to the present invention;
FIG. 2 is a schematic signal flow diagram of an electronic mechanical composite braking ABS control system for an in-wheel motor according to the present invention;
FIG. 3 is a control flow diagram of an ABS control method for electromechanical combined braking of a hub motor according to the present invention.
Detailed Description
The invention will be further described in detail with reference to the following drawings and specific examples, which are not intended to limit the invention, but are for clear understanding.
As shown in fig. 1 and 2, the invention relates to an electronic-mechanical composite braking ABS control system for an in-wheel motor, which comprises a vehicle control unit, a pedal sensor, an ABS controller, an EMB controller and an EMB brake corresponding to each wheel, an in-wheel motor and a motor controller corresponding to each wheel, an ABS wheel speed conversion module and a super-capacitor energy management unit.
The vehicle speed signal output ends of the four motor controllers are electrically connected with the vehicle speed signal input end of the vehicle control unit through CAN lines, the vehicle speed signal output ends of the four vehicle control units are electrically connected with the vehicle speed signal input end of the ABS controller through an ABS wheel speed conversion module, the control signal output end of the ABS controller is electrically connected with the motor controller and the EMB controller, the control signal output end of the motor controller is electrically connected with the control signal input end of the hub motor, the control signal output end of the EMB controller is electrically connected with the control signal input end of the EMB brake, the electric quantity signal output end of the super capacitor energy management unit is connected with the electric quantity signal input end of the vehicle control unit, the charging port of the super capacitor energy management unit is connected with the hub motor, and the pedal opening signal output end of the pedal sensor is electrically connected with, the CPU of the ABS wheel speed conversion module is an NCV1124 integrated chip of the company Ansenmei and comprises an amplitude limiting circuit, an amplifying circuit, a filter circuit and a shaping circuit. The amplitude limiting and amplifying circuit is used for ensuring that the wheel speed signal meets the requirement of the interface level of the single chip microcomputer; the filter circuit adopts standard low-pass filtering, and has the function of filtering and removing noise on the premise of keeping useful signals as much as possible; the shaping circuit can generate square waves with ideal wave shapes by using a square wave generating circuit based on a hysteresis comparator. According to different requirements, the threshold voltage of the hysteresis comparator is changed through the design of circuit element parameters, so that the waveform conversion is realized. The controller is used for converting millivolt standard sine voltage wheel speed signals sent to a CAN bus by a VCU into pulse square wave voltage signals which CAN be identified by an ABS controller. The motor controller is integrated on the hub motor.
As shown in fig. 3, a control flow of the hub motor electromechanical hybrid braking ABS control method is as follows:
(1) the vehicle control unit detects whether a brake pedal is stepped down in real time through a brake pedal sensor;
if so, starting the automobile to enter a braking mode and entering the step (2);
if not, returning to the step (1) to continue judging;
(2) the vehicle control unit decides to actively distribute the braking torque according to the intention of a driver and the current vehicle state;
(3) judging the electric quantity state of the super capacitor, if the electric quantity state is larger than a set electric quantity threshold value, a regenerative braking function does not need to be started, the ABS controller controls the EMB controller to independently complete braking, and if the electric quantity state is not larger than the set electric quantity threshold value, the step (4) is carried out;
the specific process of independently completing the braking by the EMB controller is as follows: the ABS controller controls the EMB controller to send a control command to the EMB brake, a brake motor is started, a piston is driven to compress a brake wheel cylinder, and a brake caliper compresses a brake disc to complete mechanical braking;
(4) the vehicle control unit judges whether the braking force required by each wheel is smaller than the maximum regenerative braking force provided by the motor according to the wheel speed signal of each wheel provided by the ABS controller, if so, the ABS controller controls the motor controller to independently complete regenerative braking, otherwise, the motor controller and the EMB controller cooperatively control to perform electromechanical composite braking. The motor controller controls the motor through the braking torque direction to realize braking. The EMB controller brakes by a brake caliper mechanically.
In the regenerative braking process of the motor, the vehicle control unit controls the hub motor to brake through the four motor controllers, the hub motor feeds back braking energy, the super capacitor and the battery are charged through the motor controllers and the super capacitor energy management system, the charging and discharging priority of the super capacitor is higher than that of the vehicle-mounted battery, and the vehicle-mounted battery is charged only after the super capacitor is fully charged, so that the service life of the vehicle-mounted battery can be greatly prolonged.
(5) After braking is executed, whether stable running is achieved or not is detected, if the stable running is not achieved, the stable running is fed back to the whole vehicle controller, and a braking strategy is updated in real time; if the stable running is achieved, whether the wheels tend to be locked is detected, if the wheels tend to be locked, the wheels are fed back to the whole vehicle controller, and anti-lock control is applied; and finally, detecting whether the braking is finished or not, feeding back to the vehicle controller, and updating the braking mode and the braking torque in real time to form closed-loop feedback braking control.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.
Claims (8)
1. An electronic and mechanical composite braking ABS control method for an in-wheel motor is characterized in that a super capacitor energy management unit is arranged, and the electric quantity of a super capacitor is monitored through a vehicle control unit;
an ABS control method for electromechanical combined braking of an in-wheel motor comprises the following steps:
detecting whether a brake pedal is stepped on, and if so, entering a braking mode, wherein the braking mode is as follows;
if the electric quantity of the super capacitor is larger than the set electric quantity threshold value, the ABS controller controls the EMB controller to perform mechanical braking;
if the electric quantity of the super capacitor is not greater than the set electric quantity threshold value and the braking force required by each wheel is smaller than the maximum regenerative braking force which can be provided by the motor, the ABS controller controls the motor controller to perform regenerative braking;
if the electric quantity of the super capacitor is not larger than the set electric quantity threshold value and the braking force required by one or more wheels is not smaller than the maximum regenerative braking force provided by the motor, the ABS controller controls the motor controller and the EMB controller to perform electromechanical composite braking;
and updating the braking mode and the braking torque in real time in the braking mode until the braking mode is exited.
2. The ABS control method for the in-wheel motor electromechanical hybrid brake of claim 1, wherein the super capacitor or the vehicle-mounted battery is charged during regenerative braking of the motor controller or electromechanical hybrid braking of the motor controller and the EMB controller, wherein the super capacitor has higher charging priority than the vehicle-mounted battery, and the power battery is charged only when the capacity of the super capacitor is full.
3. The ABS control method for the electromechanical combined braking of the in-wheel motor according to claim 1, wherein after the braking action is performed, whether the vehicle achieves stable driving or not is detected, and if the vehicle does not achieve the stable driving, a signal is fed back to a vehicle control unit, so that a braking strategy is updated in real time.
4. The ABS control method for the electromechanical combined braking of the in-wheel motor according to claim 3, wherein after the braking action is performed, if the vehicle reaches stable driving, whether the wheels tend to be locked is detected, and if so, a signal is fed back to a vehicle control unit to perform locking control.
5. The in-wheel motor electro-mechanical composite brake ABS control method of claim 1, wherein the braking force required for each wheel is determined by a vehicle speed of each wheel.
6. An electronic and mechanical composite braking ABS control system of a hub motor comprises a vehicle control unit, a pedal sensor, an ABS controller, an EMB controller and an EMB brake which are respectively corresponding to each wheel, and a hub motor and a motor controller which are respectively corresponding to each wheel, and is characterized by also comprising an ABS wheel speed conversion module and a super capacitor energy management unit, wherein the vehicle speed signal output end of each motor controller is electrically connected with the vehicle speed signal input end of the vehicle control unit, the vehicle speed signal output end of the vehicle control unit is electrically connected with the vehicle speed signal input end of the ABS controller through the ABS wheel speed conversion module, the control signal output end of the ABS controller is electrically connected with the motor controller and the EMB controller, the control signal output end of the motor controller is electrically connected with the control signal input end of the hub motor, the control signal output end of the EMB controller is electrically connected with the control signal input end of the EMB brake, the electric quantity signal output end of the super-capacitor energy management unit is connected with the electric quantity signal input end of the whole vehicle controller, the charging port of the super-capacitor energy management unit is connected with the hub motor, the pedal opening degree signal output end of the pedal sensor is electrically connected with the pedal opening degree signal input end of the whole vehicle controller, and the ABS wheel speed conversion module is used for converting millivolt standard sinusoidal voltage wheel speed signals sent by the whole vehicle controller into pulse square wave voltage signals capable of being recognized by the ABS controller.
7. The in-wheel motor electro-mechanical composite brake ABS control system of claim 1, wherein the motor controller is integrated on the in-wheel motor.
8. The hub motor electronic mechanical composite brake ABS control system of claim 1, wherein the ABS wheel speed conversion module comprises a limiting circuit, an amplifying circuit, a filtering circuit and a shaping circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010302353.2A CN111497803A (en) | 2020-04-16 | 2020-04-16 | Electronic and mechanical composite braking ABS control method and system for hub motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010302353.2A CN111497803A (en) | 2020-04-16 | 2020-04-16 | Electronic and mechanical composite braking ABS control method and system for hub motor |
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| CN111497803A true CN111497803A (en) | 2020-08-07 |
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| CN202010302353.2A Pending CN111497803A (en) | 2020-04-16 | 2020-04-16 | Electronic and mechanical composite braking ABS control method and system for hub motor |
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