CN113492682A - Energy recovery control method and system and vehicle - Google Patents
Energy recovery control method and system and vehicle Download PDFInfo
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- CN113492682A CN113492682A CN202010256836.3A CN202010256836A CN113492682A CN 113492682 A CN113492682 A CN 113492682A CN 202010256836 A CN202010256836 A CN 202010256836A CN 113492682 A CN113492682 A CN 113492682A
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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
- 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
- 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
- B60L15/2009—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 for 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
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
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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
- B60L2240/10—Vehicle control parameters
- B60L2240/12—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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- 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
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—Speed
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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)
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- Fluid Mechanics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides an energy recovery control method, an energy recovery control system and a vehicle, wherein the vehicle comprises a motor, and the method comprises the following steps: acquiring the current speed and the current wheel speed of a vehicle in the process of energy recovery of the motor, and determining the wheel slip rate according to the current speed and the current wheel speed; and adjusting the actual energy recovery torque of the motor according to the wheel slip rate. In the process of controlling the motor to recover energy, the invention considers the wheel slip rate at the same time, can dynamically adjust the actual energy recovery torque of the motor according to the wheel slip rate, can avoid the condition of wheel locking caused by overlarge energy recovery torque, and ensures the braking performance of the vehicle.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an energy recovery control method, an energy recovery control system and an automobile.
Background
Currently, with the increasing global environmental protection problem, new energy vehicles are rapidly developing.
Compared with the traditional automobile, the new energy automobile is additionally provided with the motor. The motor can be used for driving the vehicle, and can also be used for generating electricity to generate reverse torque to decelerate the vehicle by starting the energy recovery function when the vehicle decelerates, and meanwhile, the effects of recovering the kinetic energy of the vehicle and prolonging the driving range of the vehicle are achieved.
At present, most vehicles including new energy vehicles are provided with an Anti-lock Braking System (ABS), and the ABS can prevent wheels from locking by slightly reducing the pressure of a brake master cylinder when the vehicle brakes, so as to ensure the Braking performance of the vehicle.
However, when the new energy automobile recovers energy, because the brake master cylinder has no brake pressure, if the vehicle runs on a smooth road surface, even if the vehicle is about to lock and slip, the ABS cannot avoid the slip by reducing the pressure of the brake master cylinder, which further affects the driving safety of the vehicle.
Disclosure of Invention
In view of the above, the present invention aims to provide an energy recovery control method, an energy recovery control system and a vehicle, so as to solve the problem that when energy recovery is performed on a wet and slippery road surface by using the existing new energy, the phenomenon of wheel locking and dragging is easy to occur, and the driving safety of the vehicle is affected.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
an energy recovery control method applied to a vehicle including an electric machine, wherein the method includes:
acquiring the current speed and the current wheel speed of a vehicle in the process of energy recovery of the motor, and determining the wheel slip rate according to the current speed and the current wheel speed;
and adjusting the actual energy recovery torque of the motor according to the wheel slip rate.
Further, in the method, the vehicle is preset with a recovery torque adjusting mechanism; the adjusting of the actual energy recovery torque of the motor according to the wheel slip ratio includes:
if the wheel slip rate is greater than or equal to a first slip rate threshold value, controlling the recovery torque adjustment mechanism to be in an activated state;
if the wheel slip rate is less than or equal to a second slip rate threshold value, controlling the recovery torque adjusting mechanism to be in a closed state; wherein the second slip rate threshold is less than the first slip rate threshold;
if the wheel slip rate is greater than the second slip rate threshold and less than the first slip rate threshold, controlling the recovery torque adjustment mechanism to maintain the current state;
and when the recovery torque adjusting mechanism is in an activated state, reducing the actual energy recovery torque of the motor according to a preset rule.
Further, in the method, before obtaining a current vehicle speed and a current wheel speed of a vehicle and determining a wheel slip ratio according to the current vehicle speed and the current wheel speed in the process of energy recovery of the motor, the method further includes:
acquiring state information of a target vehicle;
if the energy recovery is needed according to the target vehicle state information, determining a basic energy recovery torque according to the target vehicle state information;
and triggering the motor to recover energy according to the basic energy recovery torque.
Further, in the method, the target vehicle state information includes a current vehicle speed, an accelerator pedal opening degree and a brake pedal opening degree of the vehicle.
Further, in the method, if it is determined that energy recovery is required according to the target vehicle state information, determining a basic energy recovery torque according to the target vehicle state information includes:
if the opening degree of the brake pedal is monitored to be larger than or equal to a first opening degree threshold value, determining a basic energy recovery torque according to the opening degree of the brake pedal;
and if the current vehicle speed is monitored to be greater than or equal to a first vehicle speed threshold value, and the opening degree of the brake pedal and the opening degree of the accelerator pedal are both 0, determining the basic energy recovery torque according to the current vehicle speed.
Further, the method is characterized in that the vehicle stores a first corresponding relation between the opening degree of a brake pedal and energy recovery torque and a second corresponding relation between the vehicle speed and the energy recovery torque;
if the energy recovery is needed according to the target vehicle state information, determining a basic energy recovery torque according to the target vehicle state information, comprising:
if the opening degree of the brake pedal is larger than or equal to the first opening degree threshold value, determining the basic energy recovery torque according to the opening degree of the brake pedal and the first corresponding relation;
and if the current vehicle speed is greater than or equal to the first vehicle speed threshold value, and the opening degree of the brake pedal and the opening degree of the accelerator pedal are both 0, determining the basic energy recovery torque according to the current vehicle speed and the second corresponding relation.
Further, in the method, in the first correspondence relationship, the energy recovery torque increases as the opening degree of the brake pedal increases;
in the second correspondence relationship, the energy recovery torque increases with an increase in vehicle speed when the vehicle speed is less than or equal to the second vehicle speed threshold value, and the energy recovery torque decreases with an increase in vehicle speed when the vehicle speed is greater than or equal to the second vehicle speed threshold value; the second vehicle speed threshold is greater than the first vehicle speed threshold, the second vehicle speed threshold is smaller than or equal to an inflection point vehicle speed value, and the inflection point vehicle speed value is a vehicle speed value when the motor is converted from a constant torque state to a constant power state in an external characteristic curve of the motor.
It is also an object of an embodiment of the present invention to provide an energy recovery control system, applied to a vehicle including an electric machine, wherein the system includes:
the first determining module is used for acquiring the current speed and the current wheel speed of a vehicle in the process of energy recovery of the motor and determining the wheel slip rate according to the current speed and the current wheel speed;
and the control module is used for adjusting the actual energy recovery torque of the motor according to the wheel slip rate.
Further, in the system, a recovery torque adjusting mechanism is preset in the vehicle; the control module includes:
a first control unit for controlling the recovery torque adjustment mechanism to be in an activated state if the wheel slip ratio is greater than or equal to a first slip ratio threshold;
the second control unit is used for controlling the recovery torque adjusting mechanism to be in a closed state if the wheel slip rate is smaller than or equal to a second slip rate threshold value; wherein the second slip rate threshold is less than the first slip rate threshold;
a third control unit, configured to control the recovery torque adjustment mechanism to maintain a current state if the wheel slip ratio is greater than the second slip ratio threshold and smaller than the first slip ratio threshold;
and the fourth control unit is used for reducing the actual energy recovery torque of the motor according to a preset rule when the recovery torque adjusting mechanism is in an activated state.
Further, the system further comprises:
the acquisition module is used for acquiring the state information of the target vehicle;
the second determining module is used for determining basic energy recovery torque according to the target vehicle state information if the energy recovery is required according to the target vehicle state information;
and the trigger module is used for triggering the motor to recover energy according to the basic energy recovery torque.
Further, in the system, the target vehicle state information includes a current vehicle speed of the vehicle, an accelerator pedal opening degree, and a brake pedal opening degree.
Further, in the system, the second determining module includes:
the first determining unit is used for determining basic energy recovery torque according to the opening degree of the brake pedal if the opening degree of the brake pedal is greater than or equal to a first opening degree threshold value;
and the second determination unit is used for determining the basic energy recovery torque according to the current vehicle speed if the current vehicle speed is greater than or equal to a first vehicle speed threshold value and the opening degrees of the brake pedal and the accelerator pedal are both 0.
Further, the system is characterized in that the vehicle stores a first corresponding relation between the opening degree of a brake pedal and energy recovery torque and a second corresponding relation between the vehicle speed and the energy recovery torque;
the first determining unit is specifically configured to determine the basic energy recovery torque according to the brake pedal opening degree and the first corresponding relationship if the brake pedal opening degree is greater than or equal to the first opening degree threshold;
the second determining unit is specifically configured to determine the basic energy recovery torque according to the current vehicle speed and the second corresponding relationship if the current vehicle speed is greater than or equal to the first vehicle speed threshold and the brake pedal opening and the accelerator pedal opening are both 0.
Further, in the system, in the first correspondence relationship, the energy recovery torque increases as the opening degree of the brake pedal increases;
in the second correspondence relationship, the energy recovery torque increases with an increase in vehicle speed when the vehicle speed is less than or equal to the second vehicle speed threshold value, and the energy recovery torque decreases with an increase in vehicle speed when the vehicle speed is greater than or equal to the second vehicle speed threshold value; the second vehicle speed threshold is greater than the first vehicle speed threshold, the second vehicle speed threshold is smaller than or equal to an inflection point vehicle speed value, and the inflection point vehicle speed value is a vehicle speed value when the motor is converted from a constant torque state to a constant power state in an external characteristic curve of the motor.
It is a further object of the invention to propose a vehicle comprising an electric machine, wherein the vehicle further comprises an energy recovery control system as described above.
Compared with the prior art, the energy recovery control method, the energy recovery control system and the vehicle have the following advantages:
acquiring the current speed and the current wheel speed of a vehicle in the process of energy recovery of a generator, and determining the wheel slip rate according to the current speed and the current wheel speed; and adjusting the actual energy recovery torque of the motor according to the wheel slip rate. Because the wheel slip rate is considered in the process of controlling the motor to recover energy, the actual energy recovery torque of the motor can be dynamically adjusted according to the wheel slip rate, the situation of wheel locking caused by overlarge energy recovery torque can be avoided, the vehicle braking performance is ensured, and the driving safety of the vehicle is improved, so that the problem that the driving safety of the vehicle is influenced due to the fact that the wheel locking dragging slip phenomenon easily occurs when the existing new energy is used for recovering energy on a wet and slippery road surface is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic flow chart of an energy recovery control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a first corresponding relationship between energy recovery torque and brake pedal opening in an embodiment of the present invention;
FIG. 3 is a diagram illustrating a second relationship between energy recovery torque and vehicle speed in accordance with an embodiment of the present invention;
FIG. 4 is a flow chart of an energy recovery control method according to a preferred embodiment of the present invention
FIG. 5 is a flowchart illustrating an energy recovery control method according to an embodiment of the present invention;
FIG. 6 is a control schematic diagram of an energy recovery control method according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an energy recovery control system according to an embodiment of the present invention.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1, a schematic flow chart of an energy recovery control method according to an embodiment of the present invention is shown, where the energy recovery control method according to the embodiment of the present invention is applied to a vehicle, the vehicle includes a motor, and the method includes steps S100 to S200.
The energy recovery control method provided by the embodiment of the invention is suitable for a new energy vehicle, and the vehicle comprises a motor and a battery electrically connected with the motor; the motor can be driven by a battery to rotate so as to drive the vehicle to run; meanwhile, when the vehicle needs to be decelerated and braked, the motor can convert part of kinetic energy of the vehicle into electric energy through magnetoelectricity and then charge the battery so as to store the converted electric energy in the battery, thereby achieving the purpose of energy recovery; the battery is used for supplying power to the motor and other electric components of the vehicle, and is also used for storing electric energy generated when the motor recovers energy.
In practical applications, the motor includes a driving motor and a generator mechanically connected to the driving motor, and both the driving motor and the generator are electrically connected to the battery.
Step S100, in the process of energy recovery of the motor, obtaining the current speed and the current wheel speed of the vehicle, and determining the wheel slip rate according to the current speed and the current wheel speed.
In the step S100, the energy recovery process is a process of converting a part of kinetic energy of the vehicle during braking or deceleration into electric energy through magnetoelectricity by using the motor, storing the electric energy in the power battery, and generating a certain braking resistance on the motor to decelerate and brake the vehicle. The braking resistance direction is opposite to the rotation direction of the motor, so that the vehicle can be braked and decelerated. In practical application, the braking resistance is realized through braking torque, namely energy recovery torque, and the magnitude of the energy recovery torque can be adjusted by adjusting the magnetic field intensity during magnetoelectric conversion, namely the deceleration braking effect with different intensities can be realized.
In the step S100, since whether the wheel is locked or not can be represented by a relationship between a vehicle speed and a wheel speed of the vehicle, it is required to obtain a current vehicle speed of the vehicle and a current wheel speed of the vehicle. When the wheels are not locked, the speed of the vehicle is equal to the speed of the wheels; and if the vehicle speed is greater than the wheel speed, the phenomenon that the wheels are dragged to slide and locked is shown. Specifically, the relationship between the vehicle speed and the wheel speed may be expressed by a wheel slip ratio, which may be calculated, specifically, by the following formula:
where s is the wheel slip ratio, v is the vehicle speed, ω is the wheel speed, and r is the wheel rolling radius.
And S200, adjusting the actual energy recovery torque of the motor according to the wheel slip rate.
In the step S200, since the wheel slip ratio reflects the relationship between the current speed of the vehicle and the current wheel speed, it can be determined whether the wheel is slipping or locked according to the wheel slip ratio, and further, when the wheel is about to be locked or slipping, the actual energy recovery torque of the motor during energy recovery can be adjusted to adjust the magnitude of the braking resistance generated on the motor, that is, the intensity of deceleration and braking of the vehicle. The situation that wheels are locked when the motor recovers energy is described, and the braking resistance generated on the motor by the energy recovery torque exceeds the friction force provided by the ground where the wheels are located; and the actual energy recovery torque when the motor recovers energy is adjusted, so that the braking resistance generated on the motor is smaller than or equal to the friction force provided by the ground where the wheel is located, and the condition that the wheel slides due to the overlarge energy recovery torque is improved.
Compared with the prior art, the energy recovery control method has the following advantages:
acquiring the current speed and the current wheel speed of a vehicle in the process of energy recovery of a generator, and determining the wheel slip rate according to the current speed and the current wheel speed; and adjusting the actual energy recovery torque of the motor according to the wheel slip rate. Because the wheel slip rate is considered in the process of controlling the motor to recover energy, the actual energy recovery torque of the motor can be dynamically adjusted according to the wheel slip rate, the situation of wheel locking caused by overlarge energy recovery torque can be avoided, the vehicle braking performance is ensured, and the driving safety of the vehicle is improved, so that the problem that the driving safety of the vehicle is influenced due to the fact that the wheel locking dragging slip phenomenon easily occurs when the existing new energy is used for recovering energy on a wet and slippery road surface is solved.
Optionally, in an implementation manner, the energy recovery control method provided in the embodiment of the present invention further includes steps S101 to S103 before the step S100.
And step S101, acquiring the state information of the target vehicle.
In the above step S101, the target vehicle state information is state information for determining whether the vehicle is requested by energy recovery.
Alternatively, the target vehicle state information may include a current vehicle speed, an accelerator pedal opening degree, and a brake pedal opening degree. The opening degree of the accelerator pedal reflects whether the driver needs the motor to continuously drive the vehicle, and if the driver does not need the motor to continuously drive the vehicle according to the opening degree of the accelerator pedal, the motor can be controlled to recover energy; the speed of the vehicle reflects the current kinetic energy of the vehicle, namely the torque available for energy recovery, so that whether the motor needs to be controlled for energy recovery or not can be determined, and the current speed of the vehicle needs to be acquired; the opening degree of the brake pedal reflects the requirement of the driver for deceleration and braking, and if the driver needs to decelerate and brake the vehicle according to the opening degree of the brake pedal, the motor can be controlled to recover energy.
And S102, if energy recovery is required to be carried out according to the target vehicle state information, determining basic energy recovery torque according to the target vehicle state information.
In step S102, the basic energy recovery torque is an initial torque at which the motor recovers energy. In step S102, if it is determined that there is an energy recovery requirement according to the target vehicle state information, an initial torque of the motor for energy recovery is determined according to the target vehicle state information, and the initial torque triggers the motor to be turned on for energy recovery.
And S103, triggering the motor to recover energy according to the basic energy recovery torque.
In the step S103, the motor is triggered to cut the magnetic induction lines according to the basic energy recovery torque strength determined in the step S102, so as to recover energy, and the kinetic energy of the vehicle is converted into electric energy to be stored in the battery.
In the present embodiment, whether energy recovery is required is determined by monitoring the target vehicle state information, and when energy recovery is required, the basic energy recovery torque is determined from the target vehicle state information, and the motor is triggered to perform energy recovery according to the basic energy recovery torque.
Optionally, in a specific embodiment, the step S102 includes steps S201 to S202.
Step S201, if the opening degree of the brake pedal is monitored to be larger than or equal to a first opening degree threshold value, determining basic energy recovery torque according to the opening degree of the brake pedal.
In step S201, the first opening threshold is a brake pedal opening threshold for determining whether energy recovery is required, and when the brake pedal opening is greater than or equal to the first opening threshold, energy recovery is determined to be required, and at the same time, the magnitude of the basic recovery torque for triggering the motor to recover energy can be determined according to the brake pedal opening because the magnitude of the brake pedal opening reflects the magnitude of the intensity of the driver' S need to control deceleration and braking of the vehicle.
Step S202, if the current vehicle speed is monitored to be larger than or equal to a first vehicle speed threshold value, and the opening degree of a brake pedal and the opening degree of an accelerator pedal are both 0, determining basic energy recovery torque according to the current vehicle speed.
In the step S202, the first vehicle speed threshold is a vehicle speed threshold for determining whether energy recovery is required, and when the current vehicle speed is greater than or equal to the first vehicle speed threshold, if the driver does not step on the brake pedal and releases the accelerator pedal, it is described that the driver does not need the motor to continue driving the vehicle, and thus the energy recovery is determined to be required, and at the same time, the magnitude of the basic recovery torque for triggering the motor to recover energy can be determined according to the current vehicle speed.
In the above specific embodiment, the driving demand of the driver is determined by monitoring the opening degree of the brake pedal, the current vehicle speed and the opening degree of the accelerator pedal, and then it is determined whether energy recovery is required, and when energy recovery is required, the basic energy recovery torque is determined according to the opening degree of the brake pedal, or the basic energy recovery torque is determined according to the current vehicle speed, so as to trigger the motor to recover energy.
Alternatively, in a more specific embodiment, the vehicle stores a first correspondence between a brake pedal opening degree and an energy recovery torque, and a second correspondence between a vehicle speed and the energy recovery torque;
the step S201 specifically includes:
if the opening degree of the brake pedal is larger than or equal to the first opening degree threshold value, determining the basic energy recovery torque according to the opening degree of the brake pedal and the first corresponding relation;
the step S202 specifically includes: and if the current vehicle speed is greater than or equal to the first vehicle speed threshold value, and the opening degree of the brake pedal and the opening degree of the accelerator pedal are both 0, determining the basic energy recovery torque according to the current vehicle speed and the second corresponding relation.
In the embodiment, by storing a first corresponding relation between the opening degree of the brake pedal and the energy recovery torque in the vehicle, when the opening degree of the brake pedal is monitored to be greater than or equal to a first opening degree threshold value, the basic energy recovery torque can be quickly determined according to the opening degree of the brake pedal and the first corresponding relation; by storing a second corresponding relation between the vehicle speed and the energy recovery torque in the vehicle, when the current vehicle speed is monitored to be greater than or equal to a first vehicle speed threshold value and the opening degree of the brake pedal and the opening degree of the accelerator pedal are both 0, the basic energy recovery torque can be quickly determined according to the current vehicle speed and the second corresponding relation.
Alternatively, in the first correspondence relationship described above, the energy recovery torque increases as the opening degree of the brake pedal increases. The larger the opening degree of the brake pedal is, the larger the braking strength required by the driver is, so that the control is performed according to the deeper the brake pedal is stepped on, the corresponding energy recovery torque is also larger, the driving habit can be matched, and the actual requirement of the driver can be met.
Specifically, referring to fig. 2, a first corresponding relationship between the energy recovery torque and the opening degree of the brake pedal is schematically shown. In fig. 2, M denotes a first opening degree threshold; and N represents a second opening threshold value which is the corresponding opening of the brake pedal when the motor reaches the maximum energy recovery torque.
As shown in fig. 2, when the opening degree of the brake pedal is smaller than the first opening degree threshold, the corresponding energy recovery torque is 0, that is, the brake pedal is in the idle stroke stage; after the idle stroke is passed, the energy recovery torque is gradually increased along with the increase of the opening degree of the brake pedal, after the maximum recovery capacity of the motor is reached, the recovery torque value is kept unchanged along with the increase of the opening degree of the brake pedal, and at the moment, if the recovery torque cannot meet the braking requirement of a user, mechanical braking intervenes and supplements the braking force to meet the braking requirement of the user.
Alternatively, in the second correspondence relationship, the energy recovery torque increases with an increase in vehicle speed when the vehicle speed is less than or equal to a second vehicle speed threshold, and the energy recovery torque decreases with an increase in vehicle speed when the vehicle speed is greater than or equal to a second vehicle speed threshold; the second vehicle speed threshold is greater than the first vehicle speed threshold, and the second vehicle speed threshold is less than or equal to an inflection point vehicle speed value, wherein the inflection point vehicle speed value is a vehicle speed value when the motor is converted from a constant torque state to a constant power state in an external characteristic curve of the motor.
In the present embodiment, the outer characteristic curve represents a correspondence relationship between the output power and the output torque of the motor and the vehicle speed. According to the external characteristic curve, the actual output power and the actual output torque of the motor under different vehicle speeds can be determined, and the actual output power and the actual output torque are respectively the maximum energy recovery available power and the maximum energy recovery available torque for the motor to recover energy. In the external characteristic curve, along with the increase of the vehicle speed, namely along with the increase of the rotating speed of the motor, the output power of the motor is gradually increased, the output torque of the motor is kept unchanged, and at the moment, the driving motor is in a constant torque state; the vehicle speed is increased to the second vehicle speed threshold value which is the vehicle speed when the output power of the motor reaches the maximum power value; thereafter, as the vehicle speed continues to increase, the output torque of the motor starts to decrease, and the output power of the motor is kept in a maximum power value state, at which time the driving motor is in a constant power state.
In practical applications, the outer characteristic curve needs to be set in advance through experiments, and different vehicles need to be configured with different outer characteristic curves due to the difference of performances among the vehicles
In the present embodiment, by setting that the energy recovery torque increases with an increase in the vehicle speed when the vehicle speed is less than or equal to the second vehicle speed threshold value, and the energy recovery torque decreases with an increase in the vehicle speed when the vehicle speed is greater than or equal to the second vehicle speed threshold value, it is possible to match a change in the maximum energy recovery available torque of the electric motor, and set a corresponding base energy recovery torque for the electric motor, to recover the kinetic energy of the vehicle more sufficiently.
Specifically, referring to fig. 3, a second map between the energy recovery torque and the vehicle speed is shown. In fig. 3, P denotes a first vehicle speed threshold; q represents a second vehicle speed threshold.
As shown in fig. 3, when the driver steps on the brake pedal and the accelerator pedal, the vehicle speed is greater than the second vehicle speed threshold, the energy recovery torque gradually increases with the decrease of the vehicle speed, and the vehicle gradually decreases when the vehicle speed decreases below the second threshold; and when the vehicle speed is reduced to the first vehicle speed threshold value, setting the energy recovery torque to be 0, namely controlling the motor to exit energy recovery.
Optionally, in one embodiment, the vehicle is pre-equipped with a recovered torque adjustment mechanism; the step S200 includes steps S211 to S214.
And S211, if the wheel slip ratio is greater than or equal to a first slip ratio threshold value, controlling the recovery torque adjusting mechanism to be in an activated state.
In the step S211, since the difference between the vehicle speed and the wheel speed reaches a certain condition, it indicates that the wheel has slipping and locking, that is, the energy recovery torque needs to be adjusted, a threshold value for determining the wheel slip ratio, that is, the first slip ratio threshold value needs to be set for the wheel slip ratio, and as long as the wheel slip ratio is greater than or equal to the first slip ratio threshold value, it indicates that the torque required to be adjusted to recover the energy of the motor needs to be adjusted, so that the recovery torque adjustment mechanism is activated, and the recovery torque adjustment mechanism is in an activated state.
Step S212, if the wheel slip ratio is smaller than or equal to a second slip ratio threshold value, controlling the recovery torque adjusting mechanism to be in a closed state; wherein the second slip rate threshold is less than the first slip rate threshold.
In the step S212, the second slip ratio threshold is a slip ratio threshold value for determining that the adjustment of the motor for energy recovery torque is stopped, and as long as the wheel slip ratio is less than or equal to the second slip ratio threshold value, it indicates that the energy recovery torque of the motor does not need to be adjusted according to the wheel slip ratio, so that the recovery torque adjustment mechanism is closed, and the recovery torque adjustment mechanism is in a closed state. The second slip rate threshold is set to be smaller than the first slip rate threshold, and a slip rate buffer interval can be reserved between the first slip rate threshold and the second slip rate threshold, so that when the wheel slip rate is close to the first slip rate threshold, the situation that the state of the recovery torque adjusting mechanism is frequently switched due to slight swinging of the wheel slip rate near the first slip rate threshold is avoided.
Step S213, if the wheel slip ratio is greater than the second slip ratio threshold and smaller than the first slip ratio threshold, controlling the recovery torque adjustment mechanism to maintain the current state.
In the step S213, that is, when the wheel slip ratio is between the second slip ratio threshold and the first slip ratio threshold, it indicates that the wheel slip ratio state in which the recovery torque adjustment mechanism in the off state is activated is not reached, and the wheel slip ratio state in which the recovery torque adjustment mechanism in the activated state is deactivated is not reached, so that the original state of the recovery torque adjustment mechanism is not changed, that is, the recovery torque adjustment mechanism is controlled to maintain the current state.
As can be seen from steps S211 to S213, the embodiment of the present invention reserves a certain slip rate buffer interval for activating the recovery torque adjustment mechanism, where the slip rate buffer interval is a difference between the first slip rate threshold and the second slip rate threshold. If the wheel slip ratio meets the higher entry condition of being greater than the first slip ratio threshold, the recovery torque adjustment mechanism is in an activated state, and in the activated state, the entry condition that the current wheel slip ratio is lower than the first slip ratio threshold is allowed, and as long as the entry condition is not lower than the second slip ratio threshold, the recovery torque adjustment mechanism still keeps in the activated state.
Similarly, if the wheel slip ratio satisfies the lower exit condition of being less than the second slip ratio threshold, the recovery torque adjustment mechanism is in the off state, and in the off state, the wheel slip ratio is allowed to be higher than the exit condition of the second preset change rate, and as long as the wheel slip ratio is not higher than the exit condition of the first preset change rate, the recovery torque adjustment mechanism still maintains the off state.
And S214, reducing the actual energy recovery torque of the motor according to a preset rule when the recovery torque adjusting mechanism is in an activated state.
In the step S214, when the recovery torque adjustment mechanism is in an activated state, it is described that the wheel slip ratio is too large, and the wheel is locked and slipped, so the actual energy recovery torque of the motor for energy recovery needs to be reduced according to the preset rule to reduce the magnitude of the braking resistance generated on the motor until the wheel slip ratio is reduced to the exit condition of the recovery torque adjustment mechanism, that is, the wheel slip ratio is smaller than the second slip ratio threshold, that is, the braking resistance generated on the motor is smaller than or equal to the friction provided by the ground where the wheel is located, thereby improving the wheel slip condition caused by the too large energy recovery torque.
And when the recovery torque adjusting mechanism is in a closed state, the wheel slip rate is in a state smaller than a second slip rate threshold value, which indicates that the wheel has no slip phenomenon, so that the actual energy recovery torque of the motor is not required to be reduced according to a preset rule.
In practical application, the preset rule may specifically be a preset step length, that is, the actual energy recovery torque of the motor is reduced by the preset step length each time, and then the state of the recovery torque adjustment mechanism is determined by obtaining the current wheel slip rate; and if the recovery torque adjusting mechanism is in an activated state, continuously reducing the actual energy recovery torque of the motor by a preset step length until the wheel slip ratio is adjusted to enable the recovery torque adjusting mechanism to be in a closed state. Specifically, the preset step length may be 5Nm, and may be specifically set according to actual conditions of the motor and the vehicle.
Referring to fig. 4, a schematic flow chart of an energy recovery control method according to a preferred embodiment of the present invention is shown, applied to a vehicle including a motor, the vehicle being provided with a recovery torque adjustment mechanism, and the vehicle storing a first corresponding relationship between a brake pedal opening and an energy recovery torque and a second corresponding relationship between a vehicle speed and the energy recovery torque, wherein the method includes steps S401 to S409.
Step S401, obtaining target vehicle state information, wherein the target vehicle state information comprises the current speed, the opening degree of an accelerator pedal and the opening degree of a brake pedal of the vehicle.
The above step S401 can refer to the detailed description of step S101, and is not repeated here.
And S402, if the opening degree of the brake pedal is larger than or equal to a first opening degree threshold value, determining the basic energy recovery torque according to the opening degree of the brake pedal and the first corresponding relation.
The above step S402 can refer to the detailed description of step S201, and is not described herein again.
Step S403, if the current vehicle speed is greater than or equal to a first vehicle speed threshold value, and the opening degree of the brake pedal and the opening degree of the accelerator pedal are both 0, determining the basic energy recovery torque according to the current vehicle speed and the second corresponding relation.
The above step S403 can refer to the detailed description of step S202, and is not repeated here.
And S404, triggering the motor to recover energy according to the basic energy recovery torque.
The above step S404 can refer to the detailed description of step S103, and is not repeated here.
Step S405, in the process of energy recovery of the motor, obtaining the current speed and the current wheel speed of the vehicle, and determining the wheel slip rate according to the current speed and the current wheel speed.
The above step S405 can refer to the detailed description of step S100, and is not repeated here.
And step S406, if the wheel slip ratio is greater than or equal to a first slip ratio threshold value, controlling the recovery torque adjusting mechanism to be in an activated state.
The above step S406 can refer to the detailed description of step S211, and is not repeated herein.
Step S407, if the wheel slip ratio is less than or equal to a second slip ratio threshold, controlling the recovery torque adjustment mechanism to be in a closed state; wherein the second slip rate threshold is less than the first slip rate threshold.
The above step S406 can refer to the detailed description of step S212, and is not repeated herein.
Step S408, if the wheel slip ratio is greater than the second slip ratio threshold and smaller than the first slip ratio threshold, controlling the recovery torque adjustment mechanism to maintain the current state.
The above step S406 can refer to the detailed description of step S213, and is not repeated herein.
And step S409, when the recovery torque adjusting mechanism is in an activated state, reducing the actual energy recovery torque of the motor according to a preset rule.
The above step S406 can refer to the detailed description of step S214, and is not repeated here.
Compared with the prior art, the energy recovery control method provided by the embodiment of the invention has the following advantages:
the method comprises the steps of presetting a recovery torque adjusting mechanism in a vehicle in advance, then obtaining the current speed and the current wheel speed of the vehicle and determining the wheel slip rate in the process of energy recovery of a motor, determining the state of the recovery torque adjusting mechanism according to the wheel slip rate, and then adjusting the actual energy recovery torque of the motor according to the state of the recovery torque adjusting mechanism. When the motor is controlled to recover energy, basic energy recovery torque determined by target vehicle state information is considered, a recovery torque adjusting mechanism determined by wheel slip rate is introduced, and the recovery torque adjusting mechanism is provided with a higher activation condition and a lower exit condition, so that the actual energy recovery torque of the motor can be dynamically adjusted according to the wheel slip rate, the condition that wheels are locked due to overlarge energy recovery torque is avoided, and the condition that the state of the recovery torque adjusting mechanism is frequently switched in a critical state that the wheels are locked can be prevented.
In practical application, please refer to fig. 5, which shows a flowchart of the energy recovery control method according to the embodiment of the present invention.
As shown in fig. 5, in step S501, the motor is triggered to recover energy according to the state information of the target vehicle, such as an accelerator pedal and a brake pedal, and then the process proceeds to step S502;
in step S502, the motor is controlled to perform energy recovery according to normal logic, that is, the motor is controlled to perform energy recovery according to the basic energy recovery torque determined by the target vehicle state information;
in step S503, it is detected whether the wheel is about to enter a locking state, i.e. whether the wheel slip ratio exceeds a first slip ratio threshold, through the wheel speed and the vehicle speed; if yes, the step S504 is entered, otherwise, the step S507 is entered;
in step S504, the energy recovery torque of the motor is controlled to be reduced by X Nm, which is a preset step; then, the process proceeds to step S505;
in step S505, it is determined whether the wheel has been released from the locked state according to whether the wheel slip ratio is lower than a second slip ratio threshold, and if the wheel is still in the locked state, the control returns to step S504 to continue controlling the energy recovery torque of the motor to be reduced by X Nm; if it is determined in step S505 that the wheel is out of the locked state, the process proceeds to step S506;
in step S506, the current actual energy recovery torque of the motor is not reduced any more, and the motor is controlled to recover energy according to the energy recovery torque adjusted in step S505;
in step S507, the motor is controlled to recover energy directly according to the basic energy recovery torque determined by the target vehicle state information.
In practical application, please refer to fig. 6, which shows a control schematic diagram of the energy recovery control method according to the embodiment of the present invention. As shown in fig. 6, the control method is completed by a human-machine interface module 61, a vehicle speed acquisition module 62, a basic recovery torque calculation module 63, a wheel slip ratio calculation module 64, a recovery torque adjustment module 65 and a recovery torque response module 66.
The human-computer interface module 61 is used for acquiring action information of a driver so as to identify and determine the opening degree of acceleration and the opening degree of a brake pedal; the vehicle speed acquisition module 62 is used for acquiring the current vehicle speed of the vehicle; the basic recovery torque calculation module 63 is configured to obtain a basic energy recovery torque by querying a preset energy recovery torque table without considering the wheel slip ratio; the wheel slip rate calculation module 64 is used for calculating the wheel slip rate according to the current vehicle speed and the current wheel speed; the recovery torque adjusting module 65 is used for adjusting the basic energy recovery torque according to the vehicle slip rate; the recovery torque response module 66 is used for specifically controlling the motor to perform energy recovery according to the energy recovery torque adjusted by the recovery torque adjustment module 65.
Another objective of the present invention is to provide an energy recovery control system for a vehicle including an electric machine, wherein referring to fig. 5, fig. 5 shows a schematic structural diagram of an energy recovery control system according to an embodiment of the present invention, the system includes:
the first determining module 10 is configured to obtain a current vehicle speed and a current wheel speed of a vehicle during energy recovery of the motor, and determine a wheel slip rate according to the current vehicle speed and the current wheel speed;
and the control module 20 is used for adjusting the actual energy recovery torque of the motor according to the wheel slip rate.
In the system of the embodiment of the invention, in the process of energy recovery of the generator, the first determining module 10 obtains the current speed and the current wheel speed of the vehicle, and determines the wheel slip ratio according to the current speed and the current wheel speed; the control module 20 then adjusts the actual energy recovery torque of the motor according to the wheel slip ratio. Because the wheel slip rate is considered in the process of controlling the motor to recover energy, the actual energy recovery torque of the motor can be dynamically adjusted according to the wheel slip rate, the situation of wheel locking caused by overlarge energy recovery torque can be avoided, the vehicle braking performance is ensured, and the driving safety of the vehicle is improved, so that the problem that the driving safety of the vehicle is influenced due to the fact that the wheel locking dragging slip phenomenon easily occurs when the existing new energy is used for recovering energy on a wet and slippery road surface is solved.
Optionally, in the system, the vehicle is preset with a recovery torque adjustment mechanism; the control module 20 includes:
a first control unit for controlling the recovery torque adjustment mechanism to be in an activated state if the wheel slip ratio is greater than or equal to a first slip ratio threshold;
the second control unit is used for controlling the recovery torque adjusting mechanism to be in a closed state if the wheel slip rate is smaller than or equal to a second slip rate threshold value; wherein the second slip rate threshold is less than the first slip rate threshold;
a third control unit, configured to control the recovery torque adjustment mechanism to maintain a current state if the wheel slip ratio is greater than the second slip ratio threshold and smaller than the first slip ratio threshold;
and the fourth control unit is used for reducing the actual energy recovery torque of the motor according to a preset rule when the recovery torque adjusting mechanism is in an activated state.
Optionally, the system further comprises:
the acquisition module is used for acquiring the state information of the target vehicle;
the second determining module is used for determining basic energy recovery torque according to the target vehicle state information if the energy recovery is required according to the target vehicle state information;
and the trigger module is used for triggering the motor to recover energy according to the basic energy recovery torque.
Optionally, in the system, the target vehicle state information includes a current vehicle speed of the vehicle, an accelerator pedal opening degree, and a brake pedal opening degree.
Optionally, in the system, the second determining module includes:
the first determining unit is used for determining basic energy recovery torque according to the opening degree of the brake pedal if the opening degree of the brake pedal is greater than or equal to a first opening degree threshold value;
and the second determination unit is used for determining the basic energy recovery torque according to the current vehicle speed if the current vehicle speed is greater than or equal to a first vehicle speed threshold value and the opening degrees of the brake pedal and the accelerator pedal are both 0.
Optionally, the system is provided, wherein the vehicle stores a first corresponding relationship between a brake pedal opening degree and an energy recovery torque, and a second corresponding relationship between a vehicle speed and the energy recovery torque;
the first determining unit is specifically configured to determine the basic energy recovery torque according to the brake pedal opening degree and the first corresponding relationship if the brake pedal opening degree is greater than or equal to the first opening degree threshold;
the second determining unit is specifically configured to determine the basic energy recovery torque according to the current vehicle speed and the second corresponding relationship if the current vehicle speed is greater than or equal to the first vehicle speed threshold and the brake pedal opening and the accelerator pedal opening are both 0.
Alternatively, the system may be such that, in the first correspondence relationship, the energy recovery torque increases as the opening degree of the brake pedal increases;
in the second correspondence relationship, the energy recovery torque increases with an increase in vehicle speed when the vehicle speed is less than or equal to a second vehicle speed threshold value, and the energy recovery torque decreases with an increase in vehicle speed when the vehicle speed is greater than or equal to the second vehicle speed threshold value; the second vehicle speed threshold is greater than the first vehicle speed threshold, the second vehicle speed threshold is smaller than or equal to an inflection point vehicle speed value, and the inflection point vehicle speed value is a vehicle speed value when the motor is converted from a constant torque state to a constant power state in an external characteristic curve of the motor.
It is a further object of the invention to propose a vehicle comprising an electric machine, wherein the vehicle further comprises an energy recovery control system as described above.
Compared with the prior art, the energy recovery control system, the vehicle and the energy recovery control method have the same advantages, and are not described again
In summary, according to the energy recovery control method, the energy recovery control system and the vehicle provided by the application, in the process of energy recovery of the generator, the current vehicle speed and the current wheel speed of the vehicle are obtained, and the wheel slip rate is determined according to the current vehicle speed and the current wheel speed; and adjusting the actual energy recovery torque of the motor according to the wheel slip rate. Because the wheel slip rate is considered in the process of controlling the motor to recover energy, the actual energy recovery torque of the motor can be dynamically adjusted according to the wheel slip rate, the situation of wheel locking caused by overlarge energy recovery torque can be avoided, the vehicle braking performance is ensured, and the driving safety of the vehicle is improved, so that the problem that the driving safety of the vehicle is influenced due to the fact that the wheel locking dragging slip phenomenon easily occurs when the existing new energy is used for recovering energy on a wet and slippery road surface is solved.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An energy recovery control method applied to a vehicle including an electric machine, characterized by comprising:
acquiring the current speed and the current wheel speed of a vehicle in the process of energy recovery of the motor, and determining the wheel slip rate according to the current speed and the current wheel speed;
and adjusting the actual energy recovery torque of the motor according to the wheel slip rate.
2. The method of claim 1, wherein the vehicle is pre-provisioned with a recovery torque adjustment mechanism; the adjusting of the actual energy recovery torque of the motor according to the wheel slip ratio includes:
if the wheel slip rate is greater than or equal to a first slip rate threshold value, controlling the recovery torque adjustment mechanism to be in an activated state;
if the wheel slip rate is less than or equal to a second slip rate threshold value, controlling the recovery torque adjusting mechanism to be in a closed state; wherein the second slip rate threshold is less than the first slip rate threshold;
if the wheel slip rate is greater than the second slip rate threshold and less than the first slip rate threshold, controlling the recovery torque adjustment mechanism to maintain the current state;
and when the recovery torque adjusting mechanism is in an activated state, reducing the actual energy recovery torque of the motor according to a preset rule.
3. The method of claim 1, wherein before obtaining a current vehicle speed and a current wheel speed of the vehicle during the energy recovery of the motor and determining a wheel slip ratio according to the current vehicle speed and the current wheel speed, the method further comprises:
acquiring state information of a target vehicle;
if the energy recovery is needed according to the target vehicle state information, determining a basic energy recovery torque according to the target vehicle state information;
and triggering the motor to recover energy according to the basic energy recovery torque.
4. The method of claim 3, wherein the target vehicle state information includes a current vehicle speed, an accelerator pedal opening, and a brake pedal opening of the vehicle.
5. The method of claim 4, wherein determining a base energy recovery torque based on the target vehicle state information if it is determined that energy recovery is required based on the target vehicle state information comprises:
if the opening degree of the brake pedal is monitored to be larger than or equal to a first opening degree threshold value, determining a basic energy recovery torque according to the opening degree of the brake pedal;
and if the current vehicle speed is monitored to be greater than or equal to a first vehicle speed threshold value, and the opening degree of the brake pedal and the opening degree of the accelerator pedal are both 0, determining the basic energy recovery torque according to the current vehicle speed.
6. The method according to claim 5, characterized in that the vehicle stores a first correspondence between a brake pedal opening degree and an energy recovery torque, and a second correspondence between a vehicle speed and an energy recovery torque;
if the energy recovery is needed according to the target vehicle state information, determining a basic energy recovery torque according to the target vehicle state information, comprising:
if the opening degree of the brake pedal is larger than or equal to the first opening degree threshold value, determining the basic energy recovery torque according to the opening degree of the brake pedal and the first corresponding relation;
and if the current vehicle speed is greater than or equal to the first vehicle speed threshold value, and the opening degree of the brake pedal and the opening degree of the accelerator pedal are both 0, determining the basic energy recovery torque according to the current vehicle speed and the second corresponding relation.
7. The method according to claim 6, characterized in that in the first correspondence relationship, the energy recovery torque increases with an increase in the brake pedal opening degree;
in the second correspondence relationship, the energy recovery torque increases with an increase in vehicle speed when the vehicle speed is less than or equal to a second vehicle speed threshold value, and the energy recovery torque decreases with an increase in vehicle speed when the vehicle speed is greater than or equal to the second vehicle speed threshold value; the second vehicle speed threshold is greater than the first vehicle speed threshold, the second vehicle speed threshold is smaller than or equal to an inflection point vehicle speed value, and the inflection point vehicle speed value is a vehicle speed value when the motor is converted from a constant torque state to a constant power state in an external characteristic curve of the motor.
8. An energy recovery control system for a vehicle including an electric machine, the system comprising:
the first determining module is used for acquiring the current speed and the current wheel speed of a vehicle in the process of energy recovery of the motor and determining the wheel slip rate according to the current speed and the current wheel speed;
and the control module is used for adjusting the actual energy recovery torque of the motor according to the wheel slip rate.
9. The system of claim 8, wherein the vehicle is pre-provisioned with a recovery torque adjustment mechanism; the control module includes:
a first control unit for controlling the recovery torque adjustment mechanism to be in an activated state if the wheel slip ratio is greater than or equal to a first slip ratio threshold;
the second control unit is used for controlling the recovery torque adjusting mechanism to be in a closed state if the wheel slip rate is smaller than or equal to a second slip rate threshold value; wherein the second slip rate threshold is less than the first slip rate threshold;
a third control unit, configured to control the recovery torque adjustment mechanism to maintain a current state if the wheel slip ratio is greater than the second slip ratio threshold and smaller than the first slip ratio threshold;
and the fourth control unit is used for reducing the actual energy recovery torque of the motor according to a preset rule when the recovery torque adjusting mechanism is in an activated state.
10. A vehicle comprising an electric machine, characterized in that the vehicle further comprises an energy recovery control system according to any one of claims 8-9.
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| PCT/CN2021/084998 WO2021197441A1 (en) | 2020-04-02 | 2021-04-01 | Energy recovery control method and system, and vehicle |
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