CN113968141B - Feedback brake control method, device and equipment of electric automobile and storage medium - Google Patents
Feedback brake control method, device and equipment of electric automobile and storage medium Download PDFInfo
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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
- 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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/12—Recording operating variables ; Monitoring of operating variables
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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
- B60L2240/421—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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- 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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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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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- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a feedback brake control method, a device, equipment and a storage medium of an electric automobile, wherein the method comprises the steps of acquiring running data of the automobile in a high SOC mode in real time, wherein the running data comprise a brake pedal position signal, a speed, a sliding recovery strength, a motor rotating speed and available feedback power of a battery; obtaining the expected recovery torque of the whole vehicle based on the brake pedal position signal, the vehicle speed and the sliding recovery strength; obtaining expected feedback power of the battery according to the expected recovery torque of the whole vehicle and the rotating speed of the motor; obtaining expected efficiency of the motor based on the expected feedback power of the battery and the available feedback power of the battery; the motor of the vehicle is controlled with a desired efficiency of the motor. According to the feedback braking control method, device and equipment for the electric automobile and the storage medium, the expected efficiency of the motor is obtained through the expected feedback power and the expected recovery torque of the battery, so that the power battery of the automobile can keep the same deceleration braking sense under the condition of high SOC, and the driving experience and safety are improved.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to a feedback brake control method, a device, equipment and a storage medium of an electric automobile.
Background
The braking energy recovery of the electric automobile refers to that under the condition that the automobile slides or brakes, the kinetic energy of the automobile, which is consumed on wheels, is converted into electric energy through a transmission system and a motor to be stored in a power battery, and then the electric energy is used for driving the automobile, and meanwhile, the generated motor braking torque brakes the automobile through the transmission system.
When the electric automobile slides or brakes, the power battery can generate certain feedback power, the prior art does not consider the influence of battery SOC (state of charge) factors, in the actual running process, if the power battery is in a high SOC state, the feedback power of the power battery is lower at the moment, and the sliding feedback braking sense generated by the automobile at the same speed is inconsistent with the sliding feedback braking sense generated by the middle-low SOC state, so that the automobile is difficult to provide accurate automobile deceleration sense for a driver, the safe running of the automobile is influenced, and the driving experience of the user is reduced.
Disclosure of Invention
The invention provides a feedback braking control method, a device, equipment and a storage medium of an electric automobile, wherein the expected feedback power and the expected recovery torque of a battery are used for obtaining the expected efficiency of a motor, so that the power battery of the automobile can keep the same deceleration braking sense under high SOC, and the driving experience and the driving safety are improved.
In order to solve the above technical problems, an embodiment of the present invention provides a feedback brake control method for an electric vehicle, including:
acquiring operation data of a vehicle in a high SOC mode in real time, wherein the operation data at least comprises a brake pedal position signal, a vehicle speed, a coasting recovery strength, a motor rotating speed and available feedback power of a battery;
based on the brake pedal position signal, the vehicle speed and the sliding recovery intensity, obtaining a corresponding expected recovery torque of the whole vehicle;
obtaining corresponding expected feedback power of the battery according to the expected recovery torque of the whole vehicle and the rotating speed of the motor;
obtaining corresponding expected motor efficiency based on the expected feedback power of the battery and the available feedback power of the battery;
the motor of the vehicle is controlled at the desired motor efficiency.
As one preferable solution, the method for controlling the feedback brake of the electric automobile further includes:
and when a high SOC state switch of the vehicle is opened or the SOC of the battery of the vehicle is detected to be larger than a preset threshold value, controlling the vehicle to enter the high SOC mode.
As one preferable scheme, the obtaining the corresponding expected feedback power of the battery according to the expected recovery torque of the whole vehicle and the motor rotation speed specifically includes:
the expected feedback power of the battery is calculated by the following formula:
P1＝T1*N/9550
wherein P1 is the expected feedback power of the battery, T1 is the expected recovery torque of the whole vehicle, and N is the motor rotation speed.
As one preferable solution, the obtaining the corresponding expected motor efficiency based on the expected feedback power of the battery and the available feedback power of the battery specifically includes:
the desired efficiency of the motor is calculated by the following formula:
η＝P2/P1
where η is the desired efficiency of the motor, P2 is the available feedback power of the battery, and P1 is the desired feedback power of the battery.
As one preferable mode, the controlling the motor of the vehicle with the desired efficiency of the motor specifically includes:
on an equal torque line of a motor, calculating d-axis current and q-axis current according to the expected efficiency of the motor;
and controlling a motor of the vehicle with the d-axis current and the q-axis current.
Another embodiment of the present invention provides a feedback brake control device for an electric vehicle, including:
the data acquisition module is used for acquiring the operation data of the vehicle in the high SOC mode in real time, wherein the operation data at least comprises a brake pedal position signal, a vehicle speed, a coasting recovery intensity, a motor rotating speed and a battery available feedback power;
the whole vehicle expected recovery torque module is used for obtaining corresponding whole vehicle expected recovery torque based on the brake pedal position signal, the vehicle speed and the sliding recovery strength;
the battery expected feedback power module is used for obtaining corresponding battery expected feedback power according to the whole vehicle expected recovery torque and the motor rotating speed;
the motor expected efficiency module is used for obtaining corresponding motor expected efficiency based on the battery expected feedback power and the battery available feedback power;
and the motor control module is used for controlling the motor of the vehicle at the expected efficiency of the motor.
As one preferable solution, the motor control module specifically includes:
a current calculation unit for calculating d-axis current and q-axis current on an equal torque line of a motor according to the expected efficiency of the motor;
and a control unit for controlling a motor of the vehicle with the d-axis current and the q-axis current.
Still another embodiment of the present invention provides a feedback brake control apparatus for an electric vehicle, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the feedback brake control method for an electric vehicle as described above when executing the computer program.
Still another embodiment of the present invention provides a computer readable storage medium storing a computer program, where the computer program controls a device in which the computer readable storage medium is located to execute the method for controlling the feedback brake of the electric vehicle as described above when the computer program is running.
Still another embodiment of the present invention provides an electric vehicle including the electric vehicle's feedback brake control device as described above.
Compared with the prior art, the embodiment of the invention has the beneficial effects that at least one of the following points is adopted: firstly, operation data of a vehicle in a high SOC mode is obtained in real time, accurate data support is provided for subsequent feedback braking control, and then expected recovery torque of the whole vehicle, expected feedback power of a battery and expected efficiency of a motor are sequentially obtained, so that when the battery of the electric vehicle is in the high SOC state, the motor can operate according to operation parameters which are matched with the expected efficiency of the motor, further, the effect that the sliding feedback braking feeling generated by the vehicle under the same vehicle speed is consistent with the sliding feedback braking feeling generated in the middle-low SOC state is achieved, normal running of the vehicle is guaranteed, driving smoothness and safety of the vehicle are improved, and the intelligent process of the electric vehicle is promoted.
Drawings
Fig. 1 is a schematic flow chart of a feedback brake control method of an electric vehicle according to an embodiment of the invention;
fig. 2 is a schematic structural diagram of a feedback brake control device of an electric vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an electric motor brake module in one embodiment of the invention;
fig. 4 is a block diagram showing a structure of a feedback brake control apparatus of an electric vehicle in one embodiment of the present invention;
reference numerals:
11, a data acquisition module; 12. the whole vehicle expects to recycle the torque module; 13. the battery expects a feedback power module; 14. a motor desired efficiency module; 15. a motor control module; 151. a current calculation unit; 152. a control unit; 21. a processor; 22. a memory.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of this application, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", "a third", etc. may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.
In the description of the present application, it should be noted that all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs unless defined otherwise. The terminology used in the description of the present invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention, as the particular meaning of the terms described above in this application will be understood to those of ordinary skill in the art in the specific context.
An embodiment of the present invention provides a feedback brake control method of an electric vehicle, and in particular, referring to fig. 1, fig. 1 is a schematic flow chart of the feedback brake control method of the electric vehicle in one embodiment of the present invention, where fig. 1 specifically includes steps S1 to S5:
s1, acquiring running data of a vehicle in a high SOC mode in real time, wherein the running data at least comprises a brake pedal position signal, a vehicle speed, a coasting recovery intensity, a motor rotating speed and a battery available feedback power;
s2, obtaining a corresponding expected recovery torque of the whole vehicle based on the brake pedal position signal, the vehicle speed and the sliding recovery strength;
s3, obtaining corresponding expected feedback power of the battery according to the expected recovery torque of the whole vehicle and the motor rotating speed;
s4, obtaining corresponding expected motor efficiency based on the expected feedback power of the battery and the available feedback power of the battery;
s5, controlling the motor of the vehicle at the motor expected efficiency.
It should be noted that, in the process of driving the electric automobile by the driver, when the accelerator pedal is released or the brake pedal is lightly stepped on, obvious drag feeling is generated, that is, the kinetic energy recovery system of the vehicle is working, the driver needs to obtain the corresponding braking feeling of the vehicle by means of the touch feeling of the pedal when the vehicle brakes or decelerates, therefore, the braking feeling has important significance for the normal running of the vehicle, when the power battery of the vehicle is under high SOC, the battery feedback power is lower, the phenomenon that the sliding feedback braking feeling is inconsistent with the sliding braking feeling of the same vehicle speed under low and medium SOC exists, the driver can be influenced to obtain real-time information of the vehicle without any problem, the driver can obtain wrong vehicle deceleration or braking state information, and serious safety accidents can be generated, so that the safety running of the vehicle is not facilitated.
In the electric automobile in the embodiment of the invention, the expected recovery torque of the whole automobile and the expected feedback efficiency of the motor are calculated, so that when the power battery is under high SOC and the feedback power of the battery is lower, the motor efficiency is reduced in the sliding deceleration stage of the automobile on the premise of ensuring the expected recovery torque, and the same sliding brake feeling of the automobile and the same speed under the low and medium SOC is ensured.
In addition, the brake pedal position signal in this embodiment represents the brake pedal opening, and the relevant parameters, such as the vehicle speed, the coasting recovery strength, the motor rotation speed and the available feedback power of the battery, of the brake pedal are collected by the vehicle controller through a hard line, preferably obtained through a CAN bus, and also obtained through other modes, which are not described herein.
Further, in the above embodiment, before executing step S1, the feedback brake control method of an electric vehicle further includes:
when a high SOC state switch of the vehicle is turned on, or when it is detected that the SOC of the vehicle battery is greater than a preset threshold, the vehicle is controlled to enter the high SOC mode, and the battery SOC in this embodiment may be obtained by a Battery Management System (BMS) of the electric vehicle, which has a main function of monitoring a working state (voltage, current and temperature of the battery), predicting a battery capacity (SOC) of the power battery and a corresponding remaining driving range of the battery, and performing battery management to avoid an over-discharge, an over-charge, an overheat and a serious unbalance phenomenon of voltage between the unit batteries, and maximally utilizing a battery storage capacity and a cycle life.
Of course, the preset threshold value of the battery SOC needs to be set according to different vehicle types and battery models, for example, when the power battery SOC of the vehicle is higher than 90%, the vehicle is controlled to enter the high SOC mode.
Further, in the above embodiment, for step S3: according to the desired recovery torque of the whole vehicle and the motor rotating speed, obtaining corresponding desired feedback power of the battery, wherein the method specifically comprises the following steps:
the expected feedback power of the battery is calculated by the following formula:
P1＝T1*N/9550
wherein P1 is the expected feedback power of the battery, T1 is the expected recovery torque of the whole vehicle, and N is the motor rotation speed.
Further, in the above embodiment, for step S4: based on the expected feedback power of the battery and the available feedback power of the battery, obtaining a corresponding expected efficiency of the motor, the method specifically comprises the following steps:
the desired efficiency of the motor is calculated by the following formula:
η＝P2/P1
where η is the desired efficiency of the motor, P2 is the available feedback power of the battery, and P1 is the desired feedback power of the battery.
Further, in the above embodiment, for step S5: controlling the motor of the vehicle with the desired motor efficiency, which specifically includes:
on an equal torque line of a motor, calculating d-axis current and q-axis current according to the expected efficiency of the motor;
and controlling a motor of the vehicle with the d-axis current and the q-axis current.
Because the motor of the vehicle controls the motor efficiency by controlling the d-axis current and the q-axis current, on the premise of calculating the expected motor efficiency, the motor is controlled by calculating the d-axis current and the q-axis current according to the calculated d-axis current and q-axis current, so that the controlled motor can respond to the expected motor efficiency, and the same braking feeling is maintained by the sliding feedback under the high SOC.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a feedback brake control device of an electric vehicle according to one embodiment of the present invention, which includes:
the data acquisition module 11 is used for acquiring operation data of the vehicle in a high SOC mode in real time, wherein the operation data at least comprises a brake pedal position signal, a vehicle speed, a coasting recovery intensity, a motor rotating speed and a battery available feedback power;
the whole vehicle expected recovery torque module 12 is configured to obtain a corresponding whole vehicle expected recovery torque based on the brake pedal position signal, the vehicle speed and the coasting recovery strength;
the battery expected feedback power module 13 is configured to obtain a corresponding battery expected feedback power according to the desired recovery torque of the whole vehicle and the motor rotation speed;
a motor desired efficiency module 14 for obtaining a corresponding motor desired efficiency based on the battery desired feedback power and the battery available feedback power;
a motor control module 15 for controlling the motor of the vehicle at said desired motor efficiency.
Further, in the above embodiment, referring to fig. 3, fig. 3 is a schematic structural diagram of a motor brake module according to one embodiment of the present invention, which specifically includes:
a current calculation unit 151 for calculating d-axis current and q-axis current on an equal torque line of a motor according to a desired efficiency of the motor;
and a control unit 152 for controlling the motor of the vehicle with the d-axis current and the q-axis current.
It should be noted that, the virtual modules (the data acquisition module 11, the whole vehicle expected recovery torque module 12, the battery expected feedback power module 13, the motor expected efficiency module 14 and the motor control module 15) may correspond to a single controller one by one in an actual electric vehicle, or may be a controller integrating functions of the virtual modules, for example, after the whole vehicle expected recovery torque is obtained, the whole vehicle controller VCU of the electric vehicle calculates the corresponding motor expected efficiency, and then the calculated motor expected efficiency is sent to the motor controller of the electric vehicle, and the motor controller calculates the d-axis current and the q-axis current, so that the calculated d-axis current and q-axis current control the motor, thereby making the motor respond to the expected efficiency and the recovery torque requirement from the whole vehicle controller.
Referring to fig. 4, which is a block diagram of a feedback brake control apparatus of an electric vehicle according to an embodiment of the present invention, the feedback brake control apparatus 20 of an electric vehicle according to an embodiment of the present invention includes a processor 21, a memory 22, and a computer program stored in the memory 22 and configured to be executed by the processor 21, wherein the processor 21 implements steps in an embodiment of a feedback brake control method of the electric vehicle as described above, for example, steps S1 to S5 described in fig. 1 when executing the computer program; alternatively, the processor 21 may implement the functions of the modules in the above-described device embodiments, such as the data acquisition module 11, when executing the computer program.
Illustratively, the computer program may be split into one or more modules that are stored in the memory 22 and executed by the processor 21 to complete the present invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program in the data acquisition module device 20. For example, the computer program may be divided into a data acquisition module 11, a vehicle desired recovery torque module 12, a battery desired feedback power module 13, a motor desired efficiency module 14, and a motor control module 15, each of which has the following specific functions:
the data acquisition module 11 is used for acquiring operation data of the vehicle in a high SOC mode in real time, wherein the operation data at least comprises a brake pedal position signal, a vehicle speed, a coasting recovery intensity, a motor rotating speed and a battery available feedback power;
the whole vehicle expected recovery torque module 12 is configured to obtain a corresponding whole vehicle expected recovery torque based on the brake pedal position signal, the vehicle speed and the coasting recovery strength;
the battery expected feedback power module 13 is configured to obtain a corresponding battery expected feedback power according to the desired recovery torque of the whole vehicle and the motor rotation speed;
a motor desired efficiency module 14 for obtaining a corresponding motor desired efficiency based on the battery desired feedback power and the battery available feedback power;
a motor control module 15 for controlling the motor of the vehicle at said desired motor efficiency.
The electric vehicle's feedback brake control device 20 may include, but is not limited to, a processor 21, a memory 22. It will be appreciated by those skilled in the art that the schematic diagram is merely an example of a feedback brake control device of an electric vehicle, and does not constitute a limitation of the feedback brake control device 20 of an electric vehicle, and may include more or less components than those illustrated, or may combine certain components, or different components, e.g., the feedback brake control 20 of an electric vehicle may further include an input-output device, a network access device, a bus, etc.
The processor 21 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor, etc., and the processor 21 is a control center of the electric vehicle's feedback brake control apparatus 20, and connects various parts of the entire electric vehicle's feedback brake control apparatus 20 using various interfaces and lines.
The memory 22 may be used to store the computer program and/or module, and the processor 21 may implement various functions of the electric vehicle's feedback brake control apparatus 20 by running or executing the computer program and/or module stored in the memory 22, and invoking data stored in the memory 22. The memory 22 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory 22 may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
The modules integrated in the electric vehicle's service brake control device 20 may be stored in a computer-readable storage medium if implemented in the form of software functional units and sold or used as a separate product. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), or the like.
Accordingly, an embodiment of the present invention provides a computer readable storage medium, where the computer readable storage medium includes a stored computer program, and when the computer program runs, the device where the computer readable storage medium is controlled to execute steps in the feedback brake control method of the electric automobile according to the foregoing embodiment, for example, steps S1 to S5 described in fig. 1.
The feedback brake control method, the device, the equipment, the storage medium and the electric automobile provided by the invention have the beneficial effects that at least one point of the following is:
firstly, operation data of a vehicle in a high SOC mode is obtained in real time, accurate data support is provided for subsequent feedback braking control, and then expected recovery torque of the whole vehicle, expected feedback power of a battery and expected efficiency of a motor are sequentially obtained, so that when the battery of the electric vehicle is in the high SOC state, the motor can operate according to operation parameters which are matched with the expected efficiency of the motor, further, the effect that the sliding feedback braking feeling generated by the vehicle under the same vehicle speed is consistent with the sliding feedback braking feeling generated in the middle-low SOC state is achieved, normal running of the vehicle is guaranteed, driving smoothness and safety of the vehicle are improved, and the intelligent process of the electric vehicle is promoted.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (10)
1. A feedback brake control method of an electric vehicle, comprising:
acquiring operation data of a vehicle in a high SOC mode in real time, wherein the operation data at least comprises a brake pedal position signal, a vehicle speed, a coasting recovery strength, a motor rotating speed and available feedback power of a battery;
based on the brake pedal position signal, the vehicle speed and the sliding recovery intensity, obtaining a corresponding expected recovery torque of the whole vehicle;
obtaining corresponding expected feedback power of the battery according to the expected recovery torque of the whole vehicle and the rotating speed of the motor;
obtaining corresponding expected motor efficiency based on the expected feedback power of the battery and the available feedback power of the battery;
the motor of the vehicle is controlled at the desired motor efficiency.
2. The method for controlling the regenerative braking of an electric vehicle according to claim 1, further comprising:
and when a high SOC state switch of the vehicle is opened or the SOC of the battery of the vehicle is detected to be larger than a preset threshold value, controlling the vehicle to enter the high SOC mode.
3. The method for controlling the feedback brake of the electric vehicle according to claim 1, wherein the obtaining the corresponding expected feedback power of the battery according to the expected recovery torque of the whole vehicle and the motor speed comprises:
the expected feedback power of the battery is calculated by the following formula:
P1＝T1*N/9550
wherein P1 is the expected feedback power of the battery, T1 is the expected recovery torque of the whole vehicle, and N is the motor rotation speed.
4. The method for controlling the feedback brake of the electric vehicle according to claim 1, wherein the obtaining the corresponding motor desired efficiency based on the battery desired feedback power and the battery available feedback power specifically comprises:
the desired efficiency of the motor is calculated by the following formula:
η＝P2/P1
where η is the desired efficiency of the motor, P2 is the available feedback power of the battery, and P1 is the desired feedback power of the battery.
5. The method for controlling the feedback brake of an electric vehicle according to claim 1, wherein the controlling the motor of the vehicle with the desired motor efficiency specifically includes:
on an equal torque line of a motor, calculating d-axis current and q-axis current according to the expected efficiency of the motor;
and controlling a motor of the vehicle with the d-axis current and the q-axis current.
6. A feedback brake control device of an electric vehicle, comprising:
the data acquisition module is used for acquiring the operation data of the vehicle in the high SOC mode in real time, wherein the operation data at least comprises a brake pedal position signal, a vehicle speed, a coasting recovery intensity, a motor rotating speed and a battery available feedback power;
the whole vehicle expected recovery torque module is used for obtaining corresponding whole vehicle expected recovery torque based on the brake pedal position signal, the vehicle speed and the sliding recovery strength;
the battery expected feedback power module is used for obtaining corresponding battery expected feedback power according to the whole vehicle expected recovery torque and the motor rotating speed;
the motor expected efficiency module is used for obtaining corresponding motor expected efficiency based on the battery expected feedback power and the battery available feedback power;
and the motor control module is used for controlling the motor of the vehicle at the expected efficiency of the motor.
7. The electric vehicle feedback brake control device according to claim 6, wherein the motor control module specifically includes:
a current calculation unit for calculating d-axis current and q-axis current on an equal torque line of a motor according to the expected efficiency of the motor;
and a control unit for controlling a motor of the vehicle with the d-axis current and the q-axis current.
8. A feedback brake control apparatus of an electric vehicle, characterized by comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the feedback brake control method of an electric vehicle according to any one of claims 1 to 5 when executing the computer program.
9. A computer-readable storage medium storing a computer program, wherein the computer program, when executed, controls a device in which the computer-readable storage medium is located to perform the feedback brake control method of an electric vehicle according to any one of claims 1 to 5.
10. An electric vehicle characterized in that it includes the electric vehicle's regenerative braking control device according to any one of claims 6 to 7.
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