CN112829604A - ABS (anti-lock brake system) brake implementation method of electric vehicle - Google Patents
ABS (anti-lock brake system) brake implementation method of electric vehicle Download PDFInfo
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- CN112829604A CN112829604A CN202110178471.1A CN202110178471A CN112829604A CN 112829604 A CN112829604 A CN 112829604A CN 202110178471 A CN202110178471 A CN 202110178471A CN 112829604 A CN112829604 A CN 112829604A
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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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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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
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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
- B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an ABS brake implementation method of an electric vehicle, which relates to the technical field of brake response of the electric vehicle, and comprises the following specific steps: calculating the slip rate of each wheel of the electric vehicle; judging the states of a four-wheel drive system and a battery system of the electric vehicle to obtain the maximum electric brake torque which is allowed to be executed currently; and controlling the four-wheel drive system according to the vehicle speed to realize ABS control. The invention adopts an electric drive system to realize high-precision slip rate control, and the energy of the whole vehicle is recovered to reduce the loss of a mechanical system of the brake disc; the characteristic that the response speed of an electric braking system is sufficiently utilized to adjust accurately is directly controlled by the rotating speed of the motor as a control means, and compared with the traditional brake disc, the brake system is simple in control and can recover energy.
Description
Technical Field
The invention relates to the technical field of brake response of electric vehicles, in particular to an ABS brake implementation method of an electric vehicle.
Background
Early car is when emergency braking, and the stopper can be locked the wheel, can lead to the vehicle out of control like this to produce danger, and the wheel locking back, the frictional force of wheel and ground reduces, and braking distance increases, and braking effect variation. Later, ABS braking systems were invented to effectively solve the wheel lock problem and to shorten the braking distance of the vehicle. ABS braking systems were applied to aircraft brakes at the earliest and to automobiles at a later time.
The current industry ABS implementation is hydraulic braking. The problems of complex slip rate control scheme and large slip rate control range exist in the existing electric vehicle brake response technology. Currently, there is no electric mass production vehicle with four wheels independently controlled.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and provides an ABS (anti-lock brake system) brake implementation method of an electric vehicle, which adopts an electric drive system to implement high-precision slip rate control, and recovers the energy of the whole vehicle to reduce the loss of a mechanical system of a brake disc.
The invention adopts the following technical scheme for solving the technical problems:
the invention provides an ABS brake implementation method of an electric vehicle, which comprises the following specific steps:
calculating the slip rate of each wheel of the electric vehicle;
when the slip rate of one wheel exceeds a steady state slip threshold value a, the whole vehicle enters four-wheel ABS braking;
calculating the optimal motor rotating speed when the slip rate is the optimal slip rate b under the current vehicle speed by the motor corresponding to the wheel with the slip rate exceeding a;
the motor corresponding to the wheel with the slip ratio exceeding a executes a rotating speed control method, wherein the rotating speed control method is a control method which takes the rotating speed of the motor to reach the optimal rotating speed of the motor as a target by adjusting torque; if the corresponding torque is larger than the maximum electric braking torque after the rotating speed control method is executed, executing the maximum electric braking torque and requesting mechanical braking intervention; the maximum electric braking torque is obtained by judging the states of four-wheel drive and a battery system of the electric vehicle;
when the vehicle speed is less than the low-speed vehicle speed Vs, the whole vehicle braking system quits ABS control, and the motor rotating speed target is updated to 0 RPM.
The ABS braking implementation method of the electric vehicle is further optimized according to the scheme, wherein the slip rate is =100% (motor speed corresponding to the speed of the whole vehicle-actual motor speed)/motor speed corresponding to the speed of the whole vehicle, and the motor speed corresponding to the speed of the whole vehicle is = 1000 speed of the whole vehicle/(60 tire circumference).
As a further optimization scheme of the ABS braking implementation method of the electric vehicle, the calculation method of the maximum electric braking torque specifically comprises the following steps:
collecting the allowable charging power of a whole vehicle battery and the upper power limit of a four-wheel drive system, and evaluating the current maximum allowable charging power according to the collected allowable charging power of the whole vehicle battery and the upper power limit of the four-wheel drive system;
estimating the maximum allowable executing electric braking torque according to the vehicle speed and the current maximum allowable charging power, wherein the maximum electric braking torque = the maximum allowable charging power 9550/(vehicle speed 1000 speed ratio/(60 tire circumference)).
As a further optimization scheme of the ABS braking implementation method of the electric vehicle, 5% < a < 20%.
As a further optimization scheme of the ABS braking implementation method of the electric vehicle, 7% < b < 20%.
As a further optimization scheme of the ABS braking implementation method of the electric vehicle, 0< Vs <10 km/h.
As a further optimization scheme of the ABS braking implementation method of the electric vehicle, a is 10%.
As a further optimization scheme of the ABS braking implementation method of the electric vehicle, b is 15%.
As a further optimization scheme of the ABS braking implementation method of the electric vehicle, Vs is 10 km/h.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
(1) the invention adopts an electric drive system to realize high-precision slip rate control, and the energy of the whole vehicle is recovered to reduce the loss of a mechanical system of the brake disc;
(2) the characteristic that the response speed of an electric braking system is sufficiently utilized to adjust accurately is directly controlled by the rotating speed of the motor as a control means, and compared with the traditional brake disc, the brake system is simple in control and can recover energy.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
as shown in fig. 1, an ABS braking implementation method for an electric vehicle specifically includes:
calculating the slip rate of each wheel of the electric vehicle;
when the slip rate of one wheel exceeds a steady state slip threshold value a, the whole vehicle enters four-wheel ABS braking;
calculating the optimal motor rotating speed when the slip rate is the optimal slip rate b under the current vehicle speed by the motor corresponding to the wheel with the slip rate exceeding a;
the motor corresponding to the wheel with the slip ratio exceeding a executes a rotating speed control method, wherein the rotating speed control method is a control method which takes the rotating speed of the motor to reach the optimal rotating speed of the motor as a target by adjusting torque; if the corresponding torque is larger than the maximum electric braking torque after the rotating speed control method is executed, executing the maximum electric braking torque and requesting mechanical braking intervention; the maximum electric braking torque is obtained by judging the states of four-wheel drive and a battery system of the electric vehicle;
when the vehicle speed is less than the low-speed vehicle speed Vs, the whole vehicle braking system quits ABS control, and the motor rotating speed target is updated to 0 RPM.
The slip rate is =100% (motor speed corresponding to the whole vehicle speed-actual motor speed)/motor speed corresponding to the whole vehicle speed, and the motor speed corresponding to the whole vehicle speed is = 1000 (speed ratio of the whole vehicle)/(60) tire circumference).
The method for calculating the maximum electric braking torque specifically comprises the following steps:
collecting the allowable charging power of a whole vehicle battery and the upper power limit of a four-wheel drive system, and evaluating the current maximum allowable charging power according to the collected allowable charging power of the whole vehicle battery and the upper power limit of the four-wheel drive system;
estimating the maximum allowable executing electric braking torque according to the vehicle speed and the current maximum allowable charging power, wherein the maximum electric braking torque = the maximum allowable charging power 9550/(vehicle speed 1000 speed ratio/(60 tire circumference)).
Wherein 5% < a <20%, 7% < b <20%, 0< Vs <10 km/h.
The four-wheel drive system is a four-wheel independent electric drive system, which is called four wheels corresponding to four motors. The rotation speed control is a control method by means of adjusting torque, namely, the input of the rotation speed control is rotation speed, the output is torque, and the output torque is control demand torque which is larger than the executable torque of the four-wheel drive system.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (9)
1. An ABS brake implementation method of an electric vehicle is characterized by comprising the following steps:
calculating the slip rate of each wheel of the electric vehicle;
when the slip rate of one wheel exceeds a steady state slip threshold value a, the whole vehicle enters four-wheel ABS braking;
calculating the optimal motor rotating speed when the slip rate is the optimal slip rate b under the current vehicle speed by the motor corresponding to the wheel with the slip rate exceeding a;
the motor corresponding to the wheel with the slip ratio exceeding a executes a rotating speed control method, wherein the rotating speed control method is a control method which takes the rotating speed of the motor to reach the optimal rotating speed of the motor as a target by adjusting torque; if the corresponding torque is larger than the maximum electric braking torque after the rotating speed control method is executed, executing the maximum electric braking torque and requesting mechanical braking intervention; the maximum electric braking torque is obtained by judging the states of four-wheel drive and a battery system of the electric vehicle;
when the vehicle speed is less than the low-speed vehicle speed Vs, the whole vehicle braking system quits ABS control, and the motor rotating speed target is updated to 0 RPM.
2. The method for realizing the ABS braking of the electric vehicle according to claim 1, wherein the slip ratio is =100% (vehicle speed of the whole vehicle corresponds to the motor speed-actual motor speed)/vehicle speed of the whole vehicle corresponds to the motor speed, and the vehicle speed of the whole vehicle corresponds to the motor speed = 1000 speed of the whole vehicle/(60 tire circumference).
3. The method for realizing the ABS braking of the electric vehicle according to claim 1, wherein the calculation method of the maximum electric braking torque is specifically as follows:
collecting the allowable charging power of a whole vehicle battery and the upper power limit of a four-wheel drive system, and evaluating the current maximum allowable charging power according to the collected allowable charging power of the whole vehicle battery and the upper power limit of the four-wheel drive system;
estimating the maximum allowable executing electric braking torque according to the vehicle speed and the current maximum allowable charging power, wherein the maximum electric braking torque = the maximum allowable charging power 9550/(vehicle speed 1000 speed ratio/(60 tire circumference)).
4. The ABS braking realization method of an electric vehicle according to claim 1, characterized by 5% < a < 20%.
5. The ABS braking implementation method of an electric vehicle according to claim 1, characterized in that 7% < b < 20%.
6. The ABS braking implementation method of an electric vehicle according to claim 1, characterized in that 0< Vs <10 km/h.
7. The ABS braking realization method of an electric vehicle according to claim 1, characterized in that a is 10%.
8. The ABS braking realization method of an electric vehicle according to claim 1, characterized in that b is 15%.
9. The ABS braking implementation method of an electric vehicle according to claim 1, wherein Vs is 10 km/h.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110178471.1A CN112829604A (en) | 2021-02-07 | 2021-02-07 | ABS (anti-lock brake system) brake implementation method of electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110178471.1A CN112829604A (en) | 2021-02-07 | 2021-02-07 | ABS (anti-lock brake system) brake implementation method of electric vehicle |
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| Publication Number | Publication Date |
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| CN112829604A true CN112829604A (en) | 2021-05-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110178471.1A Pending CN112829604A (en) | 2021-02-07 | 2021-02-07 | ABS (anti-lock brake system) brake implementation method of electric vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114407676A (en) * | 2022-01-29 | 2022-04-29 | 重庆长安新能源汽车科技有限公司 | Torque control method and system for strong-sliding energy recovery and vehicle |
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2021
- 2021-02-07 CN CN202110178471.1A patent/CN112829604A/en active Pending
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| US20160089982A1 (en) * | 2014-09-30 | 2016-03-31 | Fuji Jukogyo Kabushiki Kaisha | Vehicle control device and vehicle control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114407676A (en) * | 2022-01-29 | 2022-04-29 | 重庆长安新能源汽车科技有限公司 | Torque control method and system for strong-sliding energy recovery and vehicle |
| CN114407676B (en) * | 2022-01-29 | 2023-05-23 | 重庆长安新能源汽车科技有限公司 | Torque control method and system for strong coasting energy recovery and vehicle |
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Application publication date: 20210525 |
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