CN117400739A - Energy recovery control method and device, vehicle and storage medium - Google Patents

Energy recovery control method and device, vehicle and storage medium Download PDF

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Publication number
CN117400739A
CN117400739A CN202311629328.5A CN202311629328A CN117400739A CN 117400739 A CN117400739 A CN 117400739A CN 202311629328 A CN202311629328 A CN 202311629328A CN 117400739 A CN117400739 A CN 117400739A
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China
Prior art keywords
current
energy recovery
torque
vehicle
preset
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Pending
Application number
CN202311629328.5A
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Chinese (zh)
Inventor
武大鹏
刘璐燕
程琰
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Beiqi Foton Motor Co Ltd
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Beiqi Foton Motor Co Ltd
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Priority to CN202311629328.5A priority Critical patent/CN117400739A/en
Publication of CN117400739A publication Critical patent/CN117400739A/en
Pending legal-status Critical Current

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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
    • 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
    • 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
    • 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
    • B60L2240/425—Temperature
    • 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
    • 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)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present application relates to the field of vehicle technologies, and in particular, to an energy recovery control method, an energy recovery control device, a vehicle, and a storage medium, including: the method comprises the steps of obtaining the current running speed and the opening degree of a brake pedal of a vehicle, determining the current request braking moment according to the opening degree of the brake pedal when the vehicle meets the preset energy recovery condition according to the current running speed and the opening degree of the brake pedal, obtaining the current temperature and the maximum output braking force of a driving motor, determining the current energy recovery torque of the driving motor, and carrying out energy recovery according to the current request braking moment and the current energy recovery torque. Therefore, the problems that the braking safety stability, the energy recovery power and the driving experience of a user of a vehicle are affected when the temperature of the driving motor is too high or the speed of the vehicle is too low are solved, the braking power is distributed to the driving motor and the brake according to the temperature of the driving motor and the magnitude of the braking force required by the vehicle, and then the energy is recovered, so that the continuous stability of the braking of the vehicle and the braking energy recovery power are improved.

Description

Energy recovery control method and device, vehicle and storage medium
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to an energy recovery control method and apparatus, a vehicle, and a storage medium.
Background
With the development of new energy automobiles, the demands of people on the safety, comfort and energy conservation and environmental protection of the automobiles are increasingly increased, wherein the recovery of the braking energy of the automobiles is taken as one of energy conservation and environmental protection means, and is also an important factor influencing the willingness of users to purchase the automobiles. In the braking process, if the driving motor can continuously and stably output braking force, the driving safety of the vehicle can be effectively improved, and if the braking force of the driving motor suddenly disappears in the braking process, the hidden danger of the driving safety of the vehicle can be increased.
In the related art, in a braking energy recovery method, a driving motor is used as a generator to recover energy in the process of controlling the driving motor to output braking force.
However, in the braking process, heat is generated when the driving motor performs energy recovery, so that the temperature of the driving motor is increased, and if the temperature of the driving motor is too high, the driving motor does not output braking torque any more, so that the braking safety and stability and the energy recovery power are affected; when the vehicle speed is lower than a certain threshold value, if the driving motor continues to output braking force, the driving experience of a user can be affected, and the problem needs to be solved.
Disclosure of Invention
The application provides an energy recovery control method, an energy recovery control device, a vehicle and a storage medium, so as to solve the problems that when the temperature of a driving motor is too high or the speed of the driving motor is too low, the braking safety and stability of the vehicle, the energy recovery power, the driving experience of a user and the like are affected.
An embodiment of a first aspect of the present application provides an energy recovery control method, including the steps of:
acquiring the current running speed and the opening degree of a brake pedal of the vehicle;
when the vehicle meets the preset energy recovery condition according to the current running speed and the opening degree of the brake pedal, determining a current request braking moment according to the opening degree of the brake pedal, and acquiring the current temperature and the maximum output braking force of a driving motor; and
and determining the current energy recovery torque of the driving motor according to the current temperature and the maximum output braking force, and carrying out energy recovery according to the current request braking torque and the current energy recovery torque.
According to one embodiment of the application, the determining the current energy recovery torque of the drive motor according to the current temperature and the maximum outputtable braking force comprises:
if the current temperature is smaller than a first preset temperature, obtaining the current energy recovery torque according to the product of the maximum output braking force and a first preset coefficient;
if the current temperature is greater than or equal to the first preset temperature and the current temperature is less than or equal to the second preset temperature, obtaining the current energy recovery torque according to the product of the maximum output braking force and a second preset coefficient;
and if the current temperature is greater than the second preset temperature, obtaining the current energy recovery torque according to the product of the maximum output braking force and a third preset coefficient.
According to one embodiment of the application, the energy recovery according to the current requested braking torque and the current energy recovery torque comprises:
judging whether the current request braking torque is smaller than the current energy recovery torque;
if the current request braking torque is smaller than the current energy recovery torque, controlling the driving motor to recover energy based on the current request braking torque; otherwise, controlling the driving motor to recover energy based on the current energy recovery torque, and simultaneously controlling a brake of the vehicle to compensate the difference value between the current requested braking torque and the current energy recovery torque.
According to one embodiment of the present application, after acquiring the current running speed and the brake pedal opening of the vehicle, further comprising:
judging whether the current running speed is greater than or equal to a preset threshold value and whether the opening of the brake pedal is greater than a preset opening;
and if the current running speed is greater than or equal to the preset threshold value and the opening degree of the brake pedal is greater than the preset opening degree, judging that the vehicle meets the preset energy recovery condition.
According to one embodiment of the present application, after determining whether the current running speed is greater than or equal to the preset threshold value and whether the brake pedal opening is greater than the preset opening, the method further includes:
and if the current running speed is smaller than the preset threshold value and the opening degree of the brake pedal is larger than the preset opening degree, controlling a brake of the vehicle to brake based on the current request braking moment.
According to the energy recovery control method, the current running speed and the brake pedal opening of the vehicle are obtained, when the vehicle is judged to meet the preset energy recovery condition according to the current running speed and the brake pedal opening, the current request braking moment is further determined according to the brake pedal opening, the current temperature and the maximum outputtable braking force of the driving motor are obtained, the current energy recovery torque of the driving motor is determined, and energy recovery is carried out according to the current request braking moment and the current energy recovery torque. Therefore, the problems that the braking safety stability, the energy recovery power and the driving experience of a user of a vehicle are affected when the temperature of the driving motor is too high or the speed of the vehicle is too low are solved, the braking power is distributed to the driving motor and the brake according to the temperature of the driving motor and the magnitude of the braking force required by the vehicle, and then the energy is recovered, so that the continuous stability of the braking of the vehicle and the braking energy recovery power are improved.
An embodiment of a second aspect of the present application provides an energy recovery control device, including:
the first acquisition module is used for acquiring the current running speed and the opening degree of a brake pedal of the vehicle;
the second acquisition module is used for determining a current request braking moment according to the opening degree of the brake pedal when the vehicle meets the preset energy recovery condition according to the current running speed and the opening degree of the brake pedal, and acquiring the current temperature and the maximum output braking force of the driving motor; and
and the determining module is used for determining the current energy recovery torque of the driving motor according to the current temperature and the maximum output braking force and carrying out energy recovery according to the current request braking torque and the current energy recovery torque.
According to one embodiment of the present application, the determining module is specifically configured to:
if the current temperature is smaller than a first preset temperature, obtaining the current energy recovery torque according to the product of the maximum output braking force and a first preset coefficient;
if the current temperature is greater than or equal to the first preset temperature and the current temperature is less than or equal to the second preset temperature, obtaining the current energy recovery torque according to the product of the maximum output braking force and a second preset coefficient;
and if the current temperature is greater than the second preset temperature, obtaining the current energy recovery torque according to the product of the maximum output braking force and a third preset coefficient.
According to one embodiment of the present application, the determining module is specifically configured to:
judging whether the current request braking torque is smaller than the current energy recovery torque;
if the current request braking torque is smaller than the current energy recovery torque, controlling the driving motor to recover energy based on the current request braking torque; otherwise, controlling the driving motor to recover energy based on the current energy recovery torque, and simultaneously controlling a brake of the vehicle to compensate the difference value between the current requested braking torque and the current energy recovery torque.
According to an embodiment of the present application, after acquiring the current running speed and the brake pedal opening of the vehicle, the first acquisition module further includes:
judging whether the current running speed is greater than or equal to a preset threshold value and whether the opening of the brake pedal is greater than a preset opening;
and if the current running speed is greater than or equal to the preset threshold value and the opening degree of the brake pedal is greater than the preset opening degree, judging that the vehicle meets the preset energy recovery condition.
According to one embodiment of the present application, after determining whether the current running speed is greater than or equal to the preset threshold value and whether the brake pedal opening is greater than the preset opening, the first acquisition module further includes:
and if the current running speed is smaller than the preset threshold value and the opening degree of the brake pedal is larger than the preset opening degree, controlling a brake of the vehicle to brake based on the current request braking moment.
According to the energy recovery control device, the current running speed and the brake pedal opening degree of the vehicle are obtained, when the vehicle meets the preset energy recovery condition according to the current running speed and the brake pedal opening degree, the current request braking moment is further determined according to the brake pedal opening degree, the current temperature and the maximum outputtable braking force of the driving motor are obtained, the current energy recovery torque of the driving motor is determined, and energy recovery is carried out according to the current request braking moment and the current energy recovery torque. Therefore, the problems that the braking safety stability, the energy recovery power and the driving experience of a user of a vehicle are affected when the temperature of the driving motor is too high or the speed of the vehicle is too low are solved, the braking power is distributed to the driving motor and the brake according to the temperature of the driving motor and the magnitude of the braking force required by the vehicle, and then the energy is recovered, so that the continuous stability of the braking of the vehicle and the braking energy recovery power are improved.
An embodiment of a third aspect of the present application provides a vehicle, including: the system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the energy recovery control method according to the embodiment.
A fourth aspect of the present application provides a computer-readable storage medium storing computer instructions for causing the computer to perform the energy recovery control method according to the above-described embodiments.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a flow chart of a method of energy recovery control according to an embodiment of the present application;
FIG. 2 is a topology of a braking energy recovery control network according to one embodiment of the present application;
FIG. 3 is a braking energy recovery control workflow diagram according to one embodiment of the present application;
FIG. 4 is a block schematic diagram of an energy recovery control device according to an embodiment of the present application;
fig. 5 is a schematic structural view of a vehicle according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
The following describes an energy recovery control method, an apparatus, a vehicle, and a storage medium of the embodiments of the present application with reference to the accompanying drawings. In order to solve the problems that when the temperature of a driving motor is too high or the speed of the driving motor is too low, the braking safety stability, the energy recovery power and the riding experience of a user of a vehicle are affected, the application provides an energy recovery control method. Therefore, the problems that the braking safety stability, the energy recovery power and the driving experience of a user of a vehicle are affected when the temperature of the driving motor is too high or the speed of the vehicle is too low are solved, the braking power is distributed to the driving motor and the brake according to the temperature of the driving motor and the magnitude of the braking force required by the vehicle, and then the energy is recovered, so that the continuous stability of the braking of the vehicle and the braking energy recovery power are improved.
Specifically, fig. 1 is a schematic flow chart of an energy recovery control method according to an embodiment of the present application.
As shown in fig. 1, the energy recovery control method includes the steps of:
in step S101, the current running speed of the vehicle and the brake pedal opening degree are acquired.
Specifically, in the braking process of a vehicle, the continuous and stable output braking force of the driving motor plays a vital role in the driving safety of the vehicle, but in the braking process, if the braking force suddenly disappears due to the fact that the temperature of the driving motor is increased, the stability of the braking of the vehicle and the energy recovery power can be affected at the moment, or when the vehicle speed is low, the driving experience of a user can be affected if the driving motor continuously outputs the braking moment, so that in order to improve the safety and the comfort of the user in the driving process and the stability and the energy recovery power of the braking of the vehicle, the current driving speed of the vehicle and the opening of a brake pedal are required to be obtained first, and accordingly comprehensive judgment is carried out based on the current driving speed of the vehicle and the opening of the brake pedal, so that the basis for improving the energy recovery of the vehicle is adopted.
Specifically, as shown in fig. 2, the energy recovery of the vehicle is that the user presses a brake pedal when the vehicle is required to be decelerated during running of the vehicle, and the opening degree of the brake pedal is collected at this time, and the VCU (Vehicle Control Unit, vehicle controller) distributes the braking force T requested by the vehicle according to the current running speed of the vehicle and the state of the driving motor 0 The braking force is output to the MCU (Motor Control Unit, motor controller) and the IMCUA (Immobilize Motor Control Unit Air, brake air pump motor controller), and then the driving motor and the brake are controlled by the MCU and the IMCUA.
According to one embodiment of the present application, after acquiring the current running speed and the brake pedal opening of the vehicle, further comprising: judging whether the current running speed is greater than or equal to a preset threshold value and whether the opening degree of a brake pedal is greater than a preset opening degree; and if the current running speed is greater than or equal to a preset threshold value and the opening degree of the brake pedal is greater than a preset opening degree, judging that the vehicle meets the preset energy recovery condition.
According to one embodiment of the present application, after determining whether the current running speed is greater than or equal to the preset threshold value and whether the brake pedal opening is greater than the preset opening, further comprising: and if the current running speed is smaller than the preset threshold value and the opening degree of the brake pedal is larger than the preset opening degree, controlling a brake of the vehicle to brake based on the current request braking moment.
The preset threshold and the preset opening may be a speed threshold and a pedal opening threshold set by a person skilled in the art according to actual braking requirements of the vehicle, or may be a speed threshold and a pedal opening threshold obtained through computer simulation, which are not specifically limited herein.
Specifically, after the current running speed and the brake pedal opening of the vehicle are obtained, the embodiment of the application may classify the brake energy recovery based on the current running speed of the vehicle, and may be classified into opening the brake energy recovery and closing the brake energy recovery, that is, when the current running speed v is greater than or equal to the preset threshold v 1 When the opening degree of the brake pedal is larger than the preset opening degree, the vehicle is judged to meet the preset energy recovery condition, at the moment, the vehicle starts braking energy recovery, and the braking torque T requested by the vehicle is calculated 0 Preferably by driving motor torque T Motor with a motor housing Providing and compensating for the currently requested braking torque by the brake; at the current running speed v being less than the preset threshold v 1 When the opening degree of the brake pedal is larger than the preset opening degree, the vehicle is judged not to meet the preset energy recovery condition, at the moment, the vehicle is closed to brake the energy recovery, and the brake of the vehicle is controlled to brake based on the current braking moment, namely T Braking system ＝T 0 ，T Motor with a motor housing =0, thereby improving the ride comfort of the user during low-speed braking, as will be discussed in detail below in connection with specific embodiments.
In step S102, when it is determined that the vehicle satisfies the preset energy recovery condition according to the current running speed and the brake pedal opening, the current requested braking torque is determined according to the brake pedal opening, and the current temperature and the maximum outputtable braking force of the drive motor are acquired.
Specifically, in the embodiment of the application, when it is determined that the vehicle satisfies the preset energy recovery condition according to the current running speed and the brake pedal opening, the braking torque T requested by the vehicle is determined according to the brake pedal opening at this time 0 And acquiring the current temperature T and the maximum outputtable braking force T of the driving motor, so that the braking torque output by the driving motor and the brake is further determined according to the current temperature T and the maximum outputtable braking force T of the driving motor.
In step S103, a current energy recuperation torque of the drive motor is determined based on the current temperature and the maximum outputtable braking force, and energy recuperation is performed based on the current requested braking torque and the current energy recuperation torque.
According to one embodiment of the present application, determining a current energy recovery torque of a drive motor from a current temperature and a maximum outputtable braking force includes: if the current temperature is smaller than the first preset temperature, obtaining the current energy recovery torque according to the product of the maximum output braking force and the first preset coefficient; if the current temperature is greater than or equal to the first preset temperature and the current temperature is less than or equal to the second preset temperature, obtaining the current energy recovery torque according to the product of the maximum output braking force and the second preset coefficient; and if the current temperature is greater than the second preset temperature, obtaining the current energy recovery torque according to the product of the maximum output braking force and the third preset coefficient.
The first preset temperature and the second preset temperature may be set by a person skilled in the art according to the design of the vehicle driving motor, and the first to third preset coefficients are driving motor braking torque output capacity coefficients, which may be determined by a bench test and corrected in the test, so that specific numerical values are not specifically limited herein.
Specifically, as shown in fig. 3, if the current temperature t of the driving motor is less than the first preset temperature t 1 Obtaining the current energy recovery torque T according to the product of the maximum output braking force T of the driving motor and the first preset coefficient alpha Motor 0 T, i.e Motor 0 =αt; if the current temperature t of the driving motor is greater than or equal to the first preset temperature t 1 And the current temperature t is less than or equal to the second preset temperature t 2 Obtaining the current energy recovery torque T according to the product of the maximum output braking force T of the driving motor and the second preset coefficient beta Motor 0 I.e.
T Motor 0 =βt; if the current temperature t of the driving motor is greater than the second preset temperature t 2 Obtaining the current energy recovery torque T according to the product of the maximum output braking force T of the driving motor and the third preset coefficient gamma Motor 0 T, i.e Motor 0 ＝γT。
It should be noted that the current energy recovery torque T of the embodiment of the present application Motor 0 Is obtained from the brake torque output capacity coefficient of the driving motor and the maximum output braking force, wherein the coefficient is determined by a bench test and is continuously corrected in the test, thus the current energy recovery torque T Motor 0 It is understood that the new maximum outputtable braking force of the drive motor is determined via the drive motor braking torque output capacity coefficient and the maximum outputtable braking force T.
According to one embodiment of the present application, energy recovery is performed according to a current requested braking torque and a current energy recovery torque, comprising: judging whether the current request braking torque is smaller than the current energy recovery torque or not; if the current request braking torque is smaller than the current energy recovery torque, controlling the driving motor to recover energy based on the current request braking torque; otherwise, controlling the driving motor to recover energy based on the current energy recovery torque, and simultaneously controlling a brake of the vehicle to compensate the difference value between the current requested braking torque and the current energy recovery torque.
Specifically, as shown in fig. 3, the embodiment of the present application determines the current energy recovery torque of the drive motor, i.e., the new maximum outputtable braking force T, based on the current temperature T and the maximum outputtable braking force T Motor 0 After that, the vehicle needs to be further judgedVehicle current requested braking moment T 0 And current energy recovery torque T Motor 0 If the braking torque T is currently requested 0 Less than the current energy recovery torque T Motor 0 The driving motor provides the current requested braking torque T of the vehicle 0 At this time, the motor torque T is driven Motor with a motor housing The output torque is the current requested braking torque T 0 I.e. controlling the drive motor based on the currently requested braking torque T 0 The energy recovery is performed and can be represented as T Motor with a motor housing ＝T 0 ，T Braking system =0; if the braking torque T is currently requested 0 Greater than or equal to the current energy recovery torque T Motor 0 The driving motor is controlled to recover torque T based on the current energy Motor 0 Energy recuperation is performed while controlling the brakes of the vehicle to compensate for the difference between the current requested braking torque and the current recuperation torque, which may be denoted as T Motor with a motor housing ＝T Motor 0 ，T Braking system ＝T 0 -T Motor 0 。
To facilitate a clearer understanding of the embodiments of the present application by those skilled in the art, a complete flow path for energy recovery is discussed below.
Specifically, as shown in fig. 3, the embodiment of the present application first acquires the current running speed v of the vehicle and the brake pedal opening, i.e., the brake torque T requested by the vehicle 0 At a current running speed v greater than or equal to a preset threshold v 1 When the opening of the brake pedal is larger than the preset opening, starting brake energy recovery, and when the current running speed v is smaller than the preset threshold v 1 When the opening of the brake pedal is larger than the preset opening, the vehicle is closed, and the brake of the vehicle is controlled to brake based on the current request braking moment, namely T Braking system ＝T 0 ，T Motor with a motor housing ＝0。
Secondly, when the braking energy recovery is started, the braking moment T requested by the vehicle is determined according to the opening degree of the braking pedal 0 And obtains the current temperature T and the current energy recovery torque T of the driving motor Motor 0 Thereby according to the current temperature t of the driving motor and the first temperature threshold t of the driving motor 1 Driving and drivingSecond temperature threshold t of motor 2 Is a function of the magnitude of the braking torque T requested by the vehicle 0 With the current energy recuperation torque of the driving motor, i.e. the new maximum outputtable braking force T Motor 0 And further determines the magnitude of the output braking torque of the driving motor and the brake.
As an achievable way, if the current temperature t of the drive motor is less than the first preset temperature t 1 At this time, the current energy recovery torque of the drive motor, i.e., the new maximum outputtable braking force T Motor 0 =αt, and if the braking torque T is currently requested 0 Less than the current energy recovery torque T Motor 0 The driving motor is controlled to be based on the current request braking moment T 0 Energy recovery, i.e. T Motor with a motor housing ＝T 0 ，T Braking system =0, if the braking torque T is currently requested 0 Greater than or equal to the current energy recovery torque T Motor 0 The driving motor is controlled to recover torque T based on the current energy Motor 0 Energy recovery is performed, and at the same time, the brake of the vehicle is controlled to compensate the difference between the current requested braking torque and the current energy recovery torque, namely T Motor with a motor housing ＝T Motor 0 ，T Braking system ＝T 0 -T Motor 0 。
As another possible way, if the current temperature t of the driving motor is greater than or equal to the first preset temperature t 1 And the current temperature t is less than or equal to the second preset temperature t 2 At this time, the current energy recovery torque T of the drive motor Motor 0 =βt, and if the braking torque T is currently requested 0 Less than the current energy recovery torque T Motor 0 The driving motor is controlled to be based on the current request braking moment T 0 Energy recovery, i.e. T Motor with a motor housing ＝T 0 ，T Braking system =0, if the braking torque T is currently requested 0 Greater than or equal to the current energy recovery torque T Motor 0 The driving motor is controlled to recover torque T based on the current energy Motor 0 Energy recovery is performed, and at the same time, the brake of the vehicle is controlled to compensate the difference between the current requested braking torque and the current energy recovery torque, namely T Motor with a motor housing ＝T Motor 0 ，T Braking system ＝T 0 -T Motor 0 。
As a further realisable way, if the current temperature t of the drive motor is greater than the second preset temperature t 2 At this time, the current energy recovery torque T of the drive motor Motor 0 =γt, and if the braking torque T is currently requested 0 Less than the current energy recovery torque T Motor 0 The driving motor is controlled to be based on the current request braking moment T 0 Energy recovery, i.e. T Motor with a motor housing ＝T 0 ，T Braking system =0, if the braking torque T is currently requested 0 Greater than or equal to the current energy recovery torque T Motor 0 The driving motor is controlled to recover torque T based on the current energy Motor 0 Energy recovery is performed, and at the same time, the brake of the vehicle is controlled to compensate the difference between the current requested braking torque and the current energy recovery torque, namely T Motor with a motor housing ＝T Motor 0 ，T Braking system ＝T 0 -T Motor 0 。
In summary, the embodiments of the present application are based on the specific discussion above, which has the following beneficial effects:
(1) According to the embodiment of the application, the current running speed of the vehicle is used as the basis for controlling the brake energy recovery to be opened and closed, so that the comfort of the vehicle in the brake process is improved;
(2) According to the embodiment of the application, the temperature of the driving motor is used as the basis of the maximum torque output of the motor, the sizes of the coefficients alpha, beta and gamma are determined through a bench test, and meanwhile, the actual vehicle verification and correction are carried out in a calibration test.
(3) When the braking energy recovery is started, the embodiment of the application is realized as a driving motor braking force and brake braking force distribution braking force output scheme.
According to the energy recovery control method, the current running speed and the brake pedal opening of the vehicle are obtained, when the vehicle is judged to meet the preset energy recovery condition according to the current running speed and the brake pedal opening, the current request braking moment is further determined according to the brake pedal opening, the current temperature and the maximum outputtable braking force of the driving motor are obtained, the current energy recovery torque of the driving motor is determined, and energy recovery is carried out according to the current request braking moment and the current energy recovery torque. Therefore, the problems that the braking safety stability, the energy recovery power and the driving experience of a user of a vehicle are affected when the temperature of the driving motor is too high or the speed of the vehicle is too low are solved, the braking power is distributed to the driving motor and the brake according to the temperature of the driving motor and the magnitude of the braking force required by the vehicle, and then the energy is recovered, so that the continuous stability of the braking of the vehicle and the braking energy recovery power are improved.
Next, an energy recovery control device according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 4 is a block schematic diagram of an energy recovery control device of an embodiment of the present application.
As shown in fig. 4, the energy recovery control device 10 includes: a first acquisition module 100, a second acquisition module 200, and a determination module 300.
The first acquiring module 100 is configured to acquire a current running speed and a brake pedal opening of the vehicle;
the second obtaining module 200 is configured to determine a current requested braking torque according to a brake pedal opening when it is determined that the vehicle meets a preset energy recovery condition according to a current running speed and the brake pedal opening, and obtain a current temperature and a maximum outputtable braking force of the driving motor; and
the determining module 300 is configured to determine a current energy recovery torque of the driving motor according to the current temperature and the maximum outputtable braking force, and perform energy recovery according to the current requested braking torque and the current energy recovery torque.
According to one embodiment of the present application, the determining module 300 is specifically configured to:
if the current temperature is smaller than the first preset temperature, obtaining the current energy recovery torque according to the product of the maximum output braking force and the first preset coefficient;
if the current temperature is greater than or equal to the first preset temperature and the current temperature is less than or equal to the second preset temperature, obtaining the current energy recovery torque according to the product of the maximum output braking force and the second preset coefficient;
and if the current temperature is greater than the second preset temperature, obtaining the current energy recovery torque according to the product of the maximum output braking force and the third preset coefficient.
According to one embodiment of the present application, the determining module 300 is specifically configured to:
judging whether the current request braking torque is smaller than the current energy recovery torque or not;
if the current request braking torque is smaller than the current energy recovery torque, controlling the driving motor to recover energy based on the current request braking torque; otherwise, controlling the driving motor to recover energy based on the current energy recovery torque, and simultaneously controlling a brake of the vehicle to compensate the difference value between the current requested braking torque and the current energy recovery torque.
According to one embodiment of the present application, after acquiring the current running speed and the brake pedal opening of the vehicle, the first acquisition module 100 further includes:
judging whether the current running speed is greater than or equal to a preset threshold value and whether the opening degree of a brake pedal is greater than a preset opening degree;
and if the current running speed is greater than or equal to a preset threshold value and the opening degree of the brake pedal is greater than a preset opening degree, judging that the vehicle meets the preset energy recovery condition.
According to one embodiment of the present application, after determining whether the current running speed is greater than or equal to the preset threshold value and whether the brake pedal opening is greater than the preset opening, the first acquisition module 100 further includes:
and if the current running speed is smaller than the preset threshold value and the opening degree of the brake pedal is larger than the preset opening degree, controlling a brake of the vehicle to brake based on the current request braking moment.
According to the energy recovery control device, the current running speed and the brake pedal opening degree of the vehicle are obtained, when the vehicle meets the preset energy recovery condition according to the current running speed and the brake pedal opening degree, the current request braking moment is further determined according to the brake pedal opening degree, the current temperature and the maximum outputtable braking force of the driving motor are obtained, the current energy recovery torque of the driving motor is determined, and energy recovery is carried out according to the current request braking moment and the current energy recovery torque. Therefore, the problems that the braking safety stability, the energy recovery power and the driving experience of a user of a vehicle are affected when the temperature of the driving motor is too high or the speed of the vehicle is too low are solved, the braking power is distributed to the driving motor and the brake according to the temperature of the driving motor and the magnitude of the braking force required by the vehicle, and then the energy is recovered, so that the continuous stability of the braking of the vehicle and the braking energy recovery power are improved.
Fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
memory 501, processor 502, and a computer program stored on memory 501 and executable on processor 502.
The processor 502 implements the energy recovery control method provided in the above embodiment when executing a program.
Further, the vehicle further includes:
a communication interface 503 for communication between the memory 501 and the processor 502.
Memory 501 for storing a computer program executable on processor 502.
The memory 501 may include high-speed RAM memory and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 501, the processor 502, and the communication interface 503 are implemented independently, the communication interface 503, the memory 501, and the processor 502 may be connected to each other via a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (Peripheral Component, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 5, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 501, the processor 502, and the communication interface 503 are integrated on a chip, the memory 501, the processor 502, and the communication interface 503 may perform communication with each other through internal interfaces.
The processor 502 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more integrated circuits configured to implement embodiments of the present application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the energy recovery control method as above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or part of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, and the program may be stored in a computer readable storage medium, where the program when executed includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented as software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims (10)

1. An energy recovery control method, characterized by comprising the steps of:
acquiring the current running speed and the opening degree of a brake pedal of the vehicle;
when the vehicle meets the preset energy recovery condition according to the current running speed and the opening degree of the brake pedal, determining a current request braking moment according to the opening degree of the brake pedal, and acquiring the current temperature and the maximum output braking force of a driving motor; and
and determining the current energy recovery torque of the driving motor according to the current temperature and the maximum output braking force, and carrying out energy recovery according to the current request braking torque and the current energy recovery torque.
2. The method of claim 1, wherein said determining a current energy recovery torque of said drive motor as a function of said current temperature and said maximum outputtable braking force comprises:
if the current temperature is smaller than a first preset temperature, obtaining the current energy recovery torque according to the product of the maximum output braking force and a first preset coefficient;
if the current temperature is greater than or equal to the first preset temperature and the current temperature is less than or equal to the second preset temperature, obtaining the current energy recovery torque according to the product of the maximum output braking force and a second preset coefficient;
and if the current temperature is greater than the second preset temperature, obtaining the current energy recovery torque according to the product of the maximum output braking force and a third preset coefficient.
3. The method according to claim 1 or 2, wherein said energy recuperating according to said current requested braking torque and said current energy recuperating torque comprises:
judging whether the current request braking torque is smaller than the current energy recovery torque;
if the current request braking torque is smaller than the current energy recovery torque, controlling the driving motor to recover energy based on the current request braking torque; otherwise, controlling the driving motor to recover energy based on the current energy recovery torque, and simultaneously controlling a brake of the vehicle to compensate the difference value between the current requested braking torque and the current energy recovery torque.
4. The method according to claim 1, characterized by further comprising, after acquiring the current running speed of the vehicle and a brake pedal opening degree:
judging whether the current running speed is greater than or equal to a preset threshold value and whether the opening of the brake pedal is greater than a preset opening;
and if the current running speed is greater than or equal to the preset threshold value and the opening degree of the brake pedal is greater than the preset opening degree, judging that the vehicle meets the preset energy recovery condition.
5. The method according to claim 4, further comprising, after determining whether the current running speed is greater than or equal to the preset threshold value and whether the brake pedal opening is greater than the preset opening:
and if the current running speed is smaller than the preset threshold value and the opening degree of the brake pedal is larger than the preset opening degree, controlling a brake of the vehicle to brake based on the current request braking moment.
6. An energy recovery control device, characterized by comprising:
the first acquisition module is used for acquiring the current running speed and the opening degree of a brake pedal of the vehicle;
the second acquisition module is used for determining a current request braking moment according to the opening degree of the brake pedal when the vehicle meets the preset energy recovery condition according to the current running speed and the opening degree of the brake pedal, and acquiring the current temperature and the maximum output braking force of the driving motor; and
and the determining module is used for determining the current energy recovery torque of the driving motor according to the current temperature and the maximum output braking force and carrying out energy recovery according to the current request braking torque and the current energy recovery torque.
7. The apparatus according to claim 6, wherein the determining module is specifically configured to:
if the current temperature is smaller than a first preset temperature, obtaining the current energy recovery torque according to the product of the maximum output braking force and a first preset coefficient;
if the current temperature is greater than or equal to the first preset temperature and the current temperature is less than or equal to the second preset temperature, obtaining the current energy recovery torque according to the product of the maximum output braking force and a second preset coefficient;
and if the current temperature is greater than the second preset temperature, obtaining the current energy recovery torque according to the product of the maximum output braking force and a third preset coefficient.
8. The apparatus according to claim 6 or 7, wherein the determining module is specifically configured to:
judging whether the current request braking torque is smaller than the current energy recovery torque;
if the current request braking torque is smaller than the current energy recovery torque, controlling the driving motor to recover energy based on the current energy recovery torque; otherwise, controlling the driving motor to carry out energy recovery based on the current energy recovery torque, and controlling a brake of the vehicle to compensate the difference value between the current request braking torque and the current energy recovery torque.
9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the energy recovery control method of any one of claims 1-5.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for realizing the energy recovery control method according to any one of claims 1-5.
CN202311629328.5A 2023-11-30 2023-11-30 Energy recovery control method and device, vehicle and storage medium Pending CN117400739A (en)

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Application Number Priority Date Filing Date Title
CN202311629328.5A CN117400739A (en) 2023-11-30 2023-11-30 Energy recovery control method and device, vehicle and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311629328.5A CN117400739A (en) 2023-11-30 2023-11-30 Energy recovery control method and device, vehicle and storage medium

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Country Link
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117574692A (en) * 2024-01-17 2024-02-20 中国第一汽车股份有限公司 Method, system, equipment and storage medium for calculating temperature of vehicle brake disc

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117574692A (en) * 2024-01-17 2024-02-20 中国第一汽车股份有限公司 Method, system, equipment and storage medium for calculating temperature of vehicle brake disc
CN117574692B (en) * 2024-01-17 2024-04-16 中国第一汽车股份有限公司 Method, system, equipment and storage medium for calculating temperature of vehicle brake disc

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