CN116691357B - Control method and system for energy recovery braking and mechanical braking in braking process - Google Patents
Control method and system for energy recovery braking and mechanical braking in braking process Download PDFInfo
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- CN116691357B CN116691357B CN202310845785.1A CN202310845785A CN116691357B CN 116691357 B CN116691357 B CN 116691357B CN 202310845785 A CN202310845785 A CN 202310845785A CN 116691357 B CN116691357 B CN 116691357B
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- 230000001133 acceleration Effects 0.000 claims description 11
- 230000005484 gravity Effects 0.000 claims description 8
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- 238000011217 control strategy Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
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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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Abstract
The invention discloses a control method and a control system for energy recovery braking and mechanical braking in a braking process, and relates to the field of braking control; the method comprises the following steps: acquiring the stroke of a brake pedal and the current speed of a vehicle; obtaining a target deceleration according to the travel of a brake pedal and the current vehicle speed; obtaining the total braking force of the vehicle by adopting Newton's second law according to the target deceleration and the current vehicle mass; obtaining an energy recovery braking component and a mechanical braking component according to the total braking force of the vehicle; and performing braking control on the vehicle according to the energy recovery braking component and the mechanical braking component. The invention changes the common control mode with the aim of braking force into the control mode with the aim of controlling the deceleration of the vehicle, can optimize the recovery of kinetic energy, the driving performance, shorten the development time and simplify the development process, and then distributes the energy recovery braking and the mechanical braking according to the current working condition.
Description
Technical Field
The invention relates to the field of braking control, in particular to a control method and a control system for energy recovery braking and mechanical braking in a braking process.
Background
In the current new energy vehicles driven by the motor, energy recovery in the braking process has become a default with functions of energy conservation and emission reduction. Calculation and control of energy recovery and mechanical braking have a decisive influence on the actual energy saving and emission reduction effects and braking performance of the vehicle.
Common control strategies are straightforward and simple, but the drawbacks are also apparent: for example, the target value of the braking torque is basically a fixed value after development work is completed, and when the running resistance of the vehicle changes (such as the influence of gradient or load), the actual effect and subjective feeling of braking are different; meanwhile, in the deceleration process, the resistance of the vehicle is continuously changed, so that in order to ensure the safety and the comfort of the braking process, a development engineer needs to continuously calibrate and debug multiple points in the whole speed interval, and the braking force needs to be adjusted each time, so that the development process is time-consuming and heavy.
Disclosure of Invention
The invention aims to provide a control method and a control system for energy recovery braking and mechanical braking in the braking process, which aim to control the deceleration of a vehicle, can optimize the recovery of kinetic energy, the driving performance, shorten the development time and simplify the development process, and then distribute the energy recovery braking and the mechanical braking according to the current working condition.
In order to achieve the above object, the present invention provides the following solutions:
the control method for energy recovery braking and mechanical braking in the braking process comprises the following steps:
acquiring the stroke of a brake pedal and the current speed of a vehicle;
obtaining a target deceleration according to the travel of a brake pedal and the current vehicle speed;
obtaining the total braking force of the vehicle by adopting Newton's second law according to the target deceleration and the current vehicle mass;
obtaining an energy recovery braking component and a mechanical braking component according to the total braking force of the vehicle;
and carrying out braking control on the vehicle according to the energy recovery braking component and the mechanical braking component.
Optionally, the control method of energy recovery and mechanical braking during braking utilizes a closed loop control method.
Optionally, the energy recovery braking component and the mechanical braking component are obtained according to the total braking force of the vehicle, and specifically include:
calculating to obtain the braking force of a vehicle braking system according to the total braking force of the vehicle and the total resistance of the vehicle running on the road;
and calculating the energy recovery braking component and the mechanical braking component according to the braking force of a vehicle braking system.
Optionally, calculating the total resistance of the vehicle running on the road specifically includes:
acquiring experimental resistance of the vehicle running on a road according to the current vehicle speed;
obtaining a road slope angle value;
calculating to obtain the ramp resistance of the vehicle according to the road ramp angle value, the current vehicle mass and the gravity acceleration;
obtaining the resistance to be corrected when the vehicle runs on the road according to the experimental resistance of the vehicle running on the road and the ramp resistance of the vehicle;
acquiring the actual deceleration of the vehicle;
adopting closed-loop control according to the actual deceleration and the target deceleration to obtain a closed-loop learning coefficient;
when the vehicle runs in a steady state, a steady state learning coefficient is obtained according to the output power of the brake motor, the resistance to be corrected when the vehicle runs on a road and the current vehicle speed;
and calculating the total resistance of the vehicle running on the road according to the resistance to be corrected, the steady-state learning coefficient and the closed-loop learning coefficient of the vehicle running on the road.
Optionally, the ramp resistance of the vehicle is calculated according to the road ramp angle value, the current vehicle mass and the gravity acceleration, and the formula is:
F P ＝sinα*m*g；
wherein F is P Representing a ramp resistance of the vehicle; alpha represents a road slope angle value; m represents the current vehicle mass; g represents the gravitational acceleration.
Optionally, the resistance to be corrected when the vehicle runs on the road is obtained according to the experimental resistance when the vehicle runs on the road and the ramp resistance of the vehicle, and the formula is as follows:
wherein F is x Representing the resistance to be corrected when the vehicle runs on the road; f (F) s The experimental resistance of the vehicle running on the road is indicated.
Optionally, according to the output power of the brake motor, the resistance to be corrected when the vehicle runs on the road and the current vehicle speed, obtaining a steady-state learning coefficient, wherein the formula is as follows:
x＝P/F x /v；
wherein x represents a steady state learning coefficient; p represents the output power of the brake motor; v denotes the current vehicle speed.
Optionally, according to the resistance to be corrected, the steady-state learning coefficient and the closed-loop learning coefficient when the vehicle runs on the road, calculating to obtain the total resistance when the vehicle runs on the road, wherein the formula is as follows:
F 1 ＝F x *x*y；
wherein F is 1 Representing the total resistance of the vehicle to travel on the road; y represents a closed-loop learning coefficient.
Optionally, the energy recovery braking component and the mechanical braking component are calculated according to the braking force of the vehicle braking system, and specifically include:
the braking force of the vehicle braking system includes: resistance provided by energy recovery and resistance provided by mechanical braking;
acquiring the current capacity of a kinetic energy recovery system and the data of a battery and a brake motor under the current working condition;
calculating to obtain the maximum braking force which can be provided by the brake according to the current kinetic energy recovery system capacity, the battery under the current working condition and the brake motor data;
judging whether the maximum braking force provided by the braking motor is smaller than the braking force of the vehicle braking system or not, and obtaining a fourth judgment result;
if the fourth judgment result is yes, the resistance provided by energy recovery is equal to the maximum braking force provided by the braking motor; the resistance provided by the mechanical braking is equal to the resistance provided by the braking force of the vehicle braking system minus the energy recovery;
obtaining the energy recovery braking component from the resistance provided by energy recovery;
obtaining the mechanical braking component according to the resistance provided by the mechanical braking;
if the fourth judgment result is negative, the resistance provided by mechanical braking is equal to zero, and the resistance provided by energy recovery is equal to the braking force of a vehicle braking system;
the energy recovery braking component is derived from the resistance provided by the energy recovery.
The control system for energy recovery braking and mechanical braking in the braking process is applied to the control method for energy recovery and mechanical braking in the braking process, and comprises the following steps:
the acquisition module is used for acquiring the stroke of the brake pedal and the current vehicle speed;
the first calculation module is used for obtaining target deceleration according to the travel of the brake pedal and the current vehicle speed;
the second calculation module is used for obtaining the total braking force of the vehicle according to the target deceleration and the current vehicle mass by adopting Newton's second law;
the third calculation module is used for obtaining an energy recovery braking component and a mechanical braking component according to the total braking force of the vehicle;
and the control module is used for carrying out braking control on the vehicle according to the energy recovery braking component and the mechanical braking component.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the method and the system for controlling the energy recovery braking and the mechanical braking in the braking process comprise the following steps: acquiring the stroke of a brake pedal and the current speed of a vehicle; obtaining a target deceleration according to the travel of a brake pedal and the current vehicle speed; obtaining the total braking force of the vehicle by adopting Newton's second law according to the target deceleration and the current vehicle mass; obtaining an energy recovery braking component and a mechanical braking component according to the total braking force of the vehicle; and carrying out braking control on the vehicle according to the energy recovery braking component and the mechanical braking component. The invention changes the common control mode with the aim of braking force into the control mode with the aim of controlling the deceleration of the vehicle, can optimize the recovery of kinetic energy, the driving performance, shorten the development time and simplify the development process, and then distributes the energy recovery braking and the mechanical braking according to the current working condition.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method of controlling energy recovery braking and mechanical braking during braking in accordance with an embodiment of the present invention;
FIG. 2 is a flow chart of the calculation of closed-loop learning coefficients for the control method of energy recovery braking and mechanical braking in the braking process in the practice of the present invention;
FIG. 3 is a flow chart of the calculation of the control method of the energy recovery braking and the mechanical braking in the braking process in the implementation of the invention.
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.
The invention aims to provide a control method and a control system for energy recovery braking and mechanical braking in the braking process, which can optimize kinetic energy recovery, drivability performance, shorten development time and simplify development process by controlling a control mode of a vehicle deceleration as a target, and then distribute the energy recovery braking and the mechanical braking according to the current working condition.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
As shown in fig. 1, the control method of energy recovery braking and mechanical braking in the braking process of the present invention includes:
step 101: and acquiring the stroke of the brake pedal and the current vehicle speed.
Step 102: and obtaining a target deceleration according to the stroke of the brake pedal and the current vehicle speed.
In practice, a target deceleration may be obtained using table 1, as shown in table 1, where a is the current vehicle speed and y is the percentage of travel of the brake pedal. The corresponding target deceleration in table 1 can be adjusted in time according to the situation.
TABLE 1 Main brake deceleration Meter
Step 103: and obtaining the total braking force of the vehicle by adopting Newton's second law according to the target deceleration and the current vehicle mass.
Step 104: the energy recovery braking component and the mechanical braking component are derived from the total braking force of the vehicle.
Step 105: and carrying out braking control on the vehicle according to the energy recovery braking component and the mechanical braking component.
The control method of energy recovery and mechanical braking in the braking process utilizes a closed-loop control method.
In a specific implementation, the method for controlling energy recovery and mechanical braking during braking employs a closed loop control method, and the steps in embodiment 1 are repeated until the vehicle speed is zero, i.e. the vehicle stops running.
The method for obtaining the energy recovery braking component and the mechanical braking component according to the total braking force of the vehicle specifically comprises the following steps:
the braking force of the vehicle braking system is calculated according to the total braking force of the vehicle and the total resistance of the vehicle running on the road.
And calculating the energy recovery braking component and the mechanical braking component according to the braking force of a vehicle braking system.
In practical application, the road load of the vehicle is obtained by a sliding method, namely the total road resistance of the vehicle at each speed can be calculated, and the specific method is as follows:
in order to eliminate the influence of the change of the actual road load (such as ascending or descending, no load or heavy load) on the braking process, the actual road load learning correction is introduced. The actual road load learning correction is divided into two parts: first, according to the slope angle measured by the slope sensor, the total resistance F to the running of the vehicle on the road 1 Correcting, namely multiplying the current vehicle mass and the gravity acceleration by the sine value of the road surface angle measured by a gradient sensor, and adding the original total road resistance (output power of a brake motor) to obtain F 1 The method comprises the steps of carrying out a first treatment on the surface of the Second, when the vehicle is running at a constant speed and in a steady state, F is compared with the following condition 1 The real-time learning is performed according to the condition that the motor output power at the moment is equal to the total road resistance, so that the steady-state learning coefficient x=the driving motor power divided by v and then divided by F 1 Where v is the current vehicle speed.
As shown in fig. 3, the calculation of the total resistance of the vehicle running on the road specifically includes:
and obtaining the experimental resistance of the vehicle running on the road according to the current vehicle speed.
The experimental resistance of the vehicle running on the road can be obtained according to the current vehicle speed inquiring national regulation.
And obtaining a road slope angle value.
And calculating the ramp resistance of the vehicle according to the road ramp angle value, the current vehicle mass and the gravity acceleration.
The ramp resistance of the vehicle is caused by gravity.
And obtaining the resistance to be corrected when the vehicle runs on the road according to the experimental resistance of the vehicle running on the road and the ramp resistance of the vehicle.
An actual deceleration of the vehicle is acquired.
And adopting closed-loop control according to the actual deceleration and the target deceleration to obtain a closed-loop learning coefficient.
The closed loop control of the target deceleration is to look up a table (calibratable) according to the difference value between the target deceleration a controlled by the system and the actual deceleration a' calculated according to the vehicle speed v, so as to obtain corresponding I item and P item, and the closed loop learning value y is obtained by adding 1, thereby realizing the consistency of the braking process under different vehicle states and road surface states.
As shown in fig. 2, a target deceleration is obtained according to the travel of the brake pedal and the current vehicle speed, and a corresponding closed-loop learning I term and a corresponding closed-loop learning P term are obtained by calculation according to the target deceleration and the actual deceleration, and the closed-loop learning value y is obtained by adding 1.
And when the vehicle runs in a steady state, obtaining a steady state learning coefficient according to the output power of the brake motor, the resistance to be corrected when the vehicle runs on a road and the current vehicle speed.
And calculating the total resistance of the vehicle running on the road according to the resistance to be corrected, the steady-state learning coefficient and the closed-loop learning coefficient of the vehicle running on the road.
And calculating the ramp resistance of the vehicle according to the road ramp angle value, the current vehicle mass and the gravity acceleration, wherein the formula is as follows:
F P ＝sinα*m*g。
wherein F is P Representing a ramp resistance of the vehicle; alpha represents a road slope angle value; m represents the current vehicle mass; g represents the gravitational acceleration.
Obtaining the resistance to be corrected of the vehicle running on the road according to the experimental resistance of the vehicle running on the road and the ramp resistance of the vehicle, wherein the formula is as follows:
wherein F is x Representing the resistance to be corrected when the vehicle runs on the road; f (F) s The experimental resistance of the vehicle running on the road is indicated.
As shown in fig. 3, the main decision of the addition and subtraction in a specific application is whether the ascending slope is an ascending slope or a descending slope, the ascending slope is an ascending slope, that is, the gradient resistance of the vehicle is large, and the descending slope is a descending slope, that is, the gradient resistance of the vehicle is small relative to the ascending slope.
Obtaining a steady-state learning coefficient according to the output power of the brake motor, the resistance to be corrected when the vehicle runs on a road and the current vehicle speed, wherein the formula is as follows:
x＝P/F x /v。
wherein x represents a steady state learning coefficient; p represents the output power of the brake motor; v denotes the current vehicle speed.
According to the resistance to be corrected, the steady-state learning coefficient and the closed-loop learning coefficient of the vehicle running on the road, calculating to obtain the total resistance of the vehicle running on the road, wherein the formula is as follows:
F 1 ＝F x *x*y。
wherein F is 1 Representing the total resistance of the vehicle to travel on the road; y represents a closed-loop learning coefficient.
As an embodiment, in the present invention, the braking force of the vehicle braking system is calculated according to the total braking force of the vehicle and the total resistance of the vehicle running on the road, where the formula is:
F 2 ＝F-F 1 。
wherein F represents the total braking force of the vehicle; f (F) 2 Representing the braking force of the vehicle braking system.
In practice, the braking force of the vehicle braking system is further divided into the resistance provided by energy recovery and the resistance provided by mechanical braking. Wherein, in order to reduce the energy consumption to the maximum extent, the economy is improved, and the braking force F is obtained on the premise of ensuring the safety of the motor and the battery (according to the data of the battery and the motor under the current working condition, the maximum braking force provided by the braking motor is obtained) 2 As much as possible by the brake motor, so F 2a ＝F 2 (when F 2 <＝F 2aMAX ) Or F 2a ＝F 2aMAX (when F 2 >F 2aMAX ) While mechanical braking force F 2b ＝F 2 -F 2a . Then, F 2a To the motor controller to execute, F 2b To the mechanical braking unit, thereby realizing the whole braking process. When the subjective feeling of the braking process needs to be adjusted and changed, only the braking deceleration main table (target deceleration) needs to be changed, and the energy recovery braking is realizedThe components and the mechanical braking components can be automatically calculated and controlled according to the adjusted target deceleration, and meanwhile, as the control target is the target deceleration, subjective feelings of the deceleration process can be easily duplicated on different vehicle types (different motors, batteries and mechanical braking systems), so that economical easy development and reusability of the braking process control are realized.
The energy recovery braking component and the mechanical braking component are calculated according to the braking force of a vehicle braking system, and specifically comprise the following steps:
the braking force of the vehicle braking system includes: the resistance provided by energy recovery and the resistance provided by mechanical braking.
And acquiring the current capacity of the kinetic energy recovery system and the data of the battery and the brake motor under the current working condition.
And calculating the maximum braking force which can be provided by the brake according to the current kinetic energy recovery system capacity, the battery under the current working condition and the brake motor data.
As shown in fig. 3, it is determined whether the maximum braking force that can be provided by the brake motor is smaller than the braking force of the vehicle brake system, and a fourth determination result is obtained.
If the fourth judgment result is yes, the resistance provided by energy recovery is equal to the maximum braking force provided by the braking motor; the mechanical braking provides a resistance equal to the braking force of the vehicle braking system minus the resistance provided by the energy recovery.
The energy recovery braking component is derived from the resistance provided by the energy recovery.
The mechanical brake component is derived from the resistance provided by the mechanical brake.
And if the fourth judgment result is negative, the resistance provided by the mechanical braking is equal to zero, and the resistance provided by the energy recovery is equal to the braking force of the vehicle braking system.
The energy recovery braking component is derived from the resistance provided by the energy recovery.
In an implementation, as shown in fig. 3, torque is obtained according to the resistance provided by energy recovery, tire radius/1000, total speed ratio is obtained according to the final gear, and energy recovery torque (energy recovery braking component) is obtained according to the total speed ratio and torque.
Example 2
The embodiment of the invention provides a control system for energy recovery braking and mechanical braking in a braking process, which is applied to the control method for energy recovery and mechanical braking in the braking process described in the embodiment 1, and comprises the following steps:
and the acquisition module is used for acquiring the stroke of the brake pedal and the current vehicle speed.
And the first calculation module is used for obtaining target deceleration according to the travel of the brake pedal and the current vehicle speed.
And the second calculation module is used for obtaining the total braking force of the vehicle according to the target deceleration and the current vehicle mass by adopting Newton's second law.
And the third calculation module is used for obtaining an energy recovery braking component and a mechanical braking component according to the total braking force of the vehicle.
And the control module is used for carrying out braking control on the vehicle according to the energy recovery braking component and the mechanical braking component.
The existing common methods for energy recovery and mechanical braking calculation and control are mainly based on the following data:
the current vehicle speed of the vehicle.
Travel of the brake pedal (or brake switch).
Subjective settings of braking force by development engineers.
Current battery SOC and motor power generation capability.
And through the collection and the test of the data, determining that the target braking torque delivery motor carries out energy recovery, and delivering mechanical braking if the residual braking force is required.
The invention provides a new calculation and control method, which converts a common control mode with a braking force as a target into a control mode with a control vehicle deceleration as a target, and then distributes energy recovery and mechanical braking according to the current working condition. The method has the core that the calculation and control of the braking process are based on the quantized parameter of the deceleration of the vehicle, and the related physical model is used for carrying out correction and self-learning on the calculation process, so that the higher consistency, economy and easy development of the braking process and the reusability of control variables of different vehicle types are realized.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (8)
1. The control method for energy recovery braking and mechanical braking in the braking process is characterized by comprising the following steps of:
acquiring the stroke of a brake pedal and the current speed of a vehicle;
obtaining a target deceleration according to the travel of a brake pedal and the current vehicle speed;
obtaining the total braking force of the vehicle by adopting Newton's second law according to the target deceleration and the current vehicle mass;
obtaining an energy recovery braking component and a mechanical braking component according to the total braking force of the vehicle;
braking control is carried out on the vehicle according to the energy recovery braking component and the mechanical braking component;
the method for obtaining the energy recovery braking component and the mechanical braking component according to the total braking force of the vehicle specifically comprises the following steps:
calculating to obtain the braking force of a vehicle braking system according to the total braking force of the vehicle and the total resistance of the vehicle running on the road;
calculating the energy recovery braking component and the mechanical braking component according to the braking force of a vehicle braking system;
the method for calculating the total resistance of the vehicle running on the road specifically comprises the following steps:
acquiring experimental resistance of the vehicle running on a road according to the current vehicle speed;
obtaining a road slope angle value;
calculating to obtain the ramp resistance of the vehicle according to the road ramp angle value, the current vehicle mass and the gravity acceleration;
obtaining the resistance to be corrected when the vehicle runs on the road according to the experimental resistance of the vehicle running on the road and the ramp resistance of the vehicle;
acquiring the actual deceleration of the vehicle;
adopting closed-loop control according to the actual deceleration and the target deceleration to obtain a closed-loop learning coefficient;
when the vehicle runs in a steady state, a steady state learning coefficient is obtained according to the output power of the brake motor, the resistance to be corrected when the vehicle runs on a road and the current vehicle speed;
and calculating the total resistance of the vehicle running on the road according to the resistance to be corrected, the steady-state learning coefficient and the closed-loop learning coefficient of the vehicle running on the road.
2. The method for controlling energy recuperation braking and mechanical braking during braking according to claim 1, wherein the method for controlling energy recuperation and mechanical braking during braking uses a closed-loop control method.
3. The method for controlling energy recovery braking and mechanical braking during braking according to claim 1, wherein the slope resistance of the vehicle is calculated according to the road slope angle value, the current vehicle mass and the gravitational acceleration, and the formula is:
F P ＝sinα*m*g；
wherein F is P Representing a ramp resistance of the vehicle; alpha represents a road slope angle value; m represents the current vehicle mass; g represents the gravitational acceleration.
4. The method for controlling energy recovery braking and mechanical braking during braking according to claim 3, wherein the resistance to be corrected when the vehicle is traveling on the road is obtained according to the experimental resistance of the vehicle traveling on the road and the ramp resistance of the vehicle, and the formula is:
wherein F is x Representing the resistance to be corrected when the vehicle runs on the road; f (F) s The experimental resistance of the vehicle running on the road is indicated.
5. The method for controlling energy recovery braking and mechanical braking during braking according to claim 4, wherein a steady-state learning coefficient is obtained according to the output power of a braking motor, the resistance to be corrected when the vehicle is traveling on a road, and the current vehicle speed, and the formula is:
x＝P/F x /v；
wherein x represents a steady state learning coefficient; p represents the output power of the brake motor; v denotes the current vehicle speed.
6. The method for controlling energy recovery braking and mechanical braking during braking according to claim 5, wherein the total resistance of the vehicle traveling on the road is calculated according to the resistance to be corrected, the steady-state learning coefficient and the closed-loop learning coefficient, and the formula is:
F 1 ＝F x *x*y；
wherein F is 1 Representing the total resistance of the vehicle to travel on the road; y represents a closed-loop learning coefficient.
7. The method for controlling energy recovery braking and mechanical braking during braking according to claim 1, wherein the energy recovery braking component and the mechanical braking component are calculated according to a braking force of a vehicle braking system, specifically comprising:
the braking force of the vehicle braking system includes: resistance provided by energy recovery and resistance provided by mechanical braking;
acquiring the current capacity of a kinetic energy recovery system and the data of a battery and a brake motor under the current working condition;
calculating to obtain the maximum braking force which can be provided by the brake according to the current kinetic energy recovery system capacity, the battery under the current working condition and the brake motor data;
judging whether the maximum braking force provided by the braking motor is smaller than the braking force of the vehicle braking system or not, and obtaining a fourth judgment result;
if the fourth judgment result is yes, the resistance provided by energy recovery is equal to the maximum braking force provided by the braking motor; the resistance provided by the mechanical braking is equal to the resistance provided by the braking force of the vehicle braking system minus the energy recovery;
obtaining the energy recovery braking component from the resistance provided by energy recovery;
obtaining the mechanical braking component according to the resistance provided by the mechanical braking;
if the fourth judgment result is negative, the resistance provided by mechanical braking is equal to zero, and the resistance provided by energy recovery is equal to the braking force of a vehicle braking system;
the energy recovery braking component is derived from the resistance provided by the energy recovery.
8. A control system for energy recovery braking and mechanical braking during braking, characterized in that the control system for energy recovery braking and mechanical braking during braking is applied to the control method for energy recovery and mechanical braking during braking according to any one of claims 1 to 7, the system comprising:
the acquisition module is used for acquiring the stroke of the brake pedal and the current vehicle speed;
the first calculation module is used for obtaining target deceleration according to the travel of the brake pedal and the current vehicle speed;
the second calculation module is used for obtaining the total braking force of the vehicle according to the target deceleration and the current vehicle mass by adopting Newton's second law;
the third calculation module is used for obtaining an energy recovery braking component and a mechanical braking component according to the total braking force of the vehicle;
the control module is used for carrying out braking control on the vehicle according to the energy recovery braking component and the mechanical braking component;
the method for obtaining the energy recovery braking component and the mechanical braking component according to the total braking force of the vehicle specifically comprises the following steps:
calculating to obtain the braking force of a vehicle braking system according to the total braking force of the vehicle and the total resistance of the vehicle running on the road;
calculating the energy recovery braking component and the mechanical braking component according to the braking force of a vehicle braking system;
the method for calculating the total resistance of the vehicle running on the road specifically comprises the following steps:
acquiring experimental resistance of the vehicle running on a road according to the current vehicle speed;
obtaining a road slope angle value;
calculating to obtain the ramp resistance of the vehicle according to the road ramp angle value, the current vehicle mass and the gravity acceleration;
obtaining the resistance to be corrected when the vehicle runs on the road according to the experimental resistance of the vehicle running on the road and the ramp resistance of the vehicle;
acquiring the actual deceleration of the vehicle;
adopting closed-loop control according to the actual deceleration and the target deceleration to obtain a closed-loop learning coefficient;
when the vehicle runs in a steady state, a steady state learning coefficient is obtained according to the output power of the brake motor, the resistance to be corrected when the vehicle runs on a road and the current vehicle speed;
and calculating the total resistance of the vehicle running on the road according to the resistance to be corrected, the steady-state learning coefficient and the closed-loop learning coefficient of the vehicle running on the road.
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| JP2019098962A (en) * | 2017-12-04 | 2019-06-24 | 三菱自動車工業株式会社 | Brake control apparatus |
| CN110435623A (en) * | 2019-08-28 | 2019-11-12 | 吉林大学 | A kind of grading automatical emergency braking control system of the electric vehicle of adjust automatically |
| CN113715630A (en) * | 2021-09-01 | 2021-11-30 | 东风汽车集团股份有限公司 | Control method and device for recovering sliding braking energy and storage medium |
| CN115610231A (en) * | 2022-10-17 | 2023-01-17 | 清华大学苏州汽车研究院（吴江） | Braking energy recovery method for heavy-load hybrid commercial vehicle |
| CN116394768A (en) * | 2023-05-26 | 2023-07-07 | 广东金霸智能科技股份有限公司 | Braking torque distribution method and system for electric automobile |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2019098962A (en) * | 2017-12-04 | 2019-06-24 | 三菱自動車工業株式会社 | Brake control apparatus |
| CN110435623A (en) * | 2019-08-28 | 2019-11-12 | 吉林大学 | A kind of grading automatical emergency braking control system of the electric vehicle of adjust automatically |
| CN113715630A (en) * | 2021-09-01 | 2021-11-30 | 东风汽车集团股份有限公司 | Control method and device for recovering sliding braking energy and storage medium |
| CN115610231A (en) * | 2022-10-17 | 2023-01-17 | 清华大学苏州汽车研究院（吴江） | Braking energy recovery method for heavy-load hybrid commercial vehicle |
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