KR20080037342A - Method for control regenerative braking of electric vehicle - Google Patents

Method for control regenerative braking of electric vehicle Download PDF

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KR20080037342A
KR20080037342A KR1020060104302A KR20060104302A KR20080037342A KR 20080037342 A KR20080037342 A KR 20080037342A KR 1020060104302 A KR1020060104302 A KR 1020060104302A KR 20060104302 A KR20060104302 A KR 20060104302A KR 20080037342 A KR20080037342 A KR 20080037342A
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South Korea
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regenerative braking
braking torque
electric vehicle
abs
slip amount
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KR1020060104302A
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Korean (ko)
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전갑배
양병철
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현대자동차주식회사
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Priority to KR1020060104302A priority Critical patent/KR20080037342A/en
Priority to US11/648,765 priority patent/US7654620B2/en
Publication of KR20080037342A publication Critical patent/KR20080037342A/en
Priority to US12/646,712 priority patent/US20100117567A1/en

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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
    • 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
    • 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
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/465—Slip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/10—ABS control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Regulating Braking Force (AREA)

Abstract

A method for controlling regenerative braking of an electric vehicle is provided to improve an energy recovery rate through power generation of a motor by reducing hydraulic braking torque without reducing regenerative braking torque. A method for controlling regenerative braking of an electric vehicle includes the steps of: performing the regenerative braking of the electric vehicle; detecting a slip amount of a front wheel during the regenerative braking; controlling regenerative braking torque not to be reduced by a regenerative braking controller if the slip amount of the front wheel is increased before a start of ABS(Anti-lock Brake System) operation; starting the ABS operation and continuously reducing the regenerative braking torque by the regenerative braking controller until the electric vehicle is stopped if the slip amount of the front wheel is larger than a reference value; and recovering energy and generating power by a motor through the gradually reduced regenerative braking torque during the ABS operation from before the start of the ABS operation at the same time.

Description

전기자동차용 회생제동 제어 방법{Method for control regenerative braking of electric vehicle}Regenerative braking control method for electric vehicles {Method for control regenerative braking of electric vehicle}

도 1a 및 도 1b는 본 발명에 따른 전기자동차용 회생제동 제어 방법을 설명하는 그래프,1A and 1B are graphs illustrating a regenerative braking control method for an electric vehicle according to the present invention;

도 2 및 도 3은 종래의 회생제동 제어 방법을 설명하는 그래프.2 and 3 are graphs illustrating a conventional regenerative braking control method.

본 발명은 전기자동차의 회생제동 제어 방법에 관한 것으로서, 더욱 상세하게는 회생제동중에 ABS 제어 시작전에 회생제동토크를 줄이지 않고, ABS 제어 개시후 회생제동토크를 점차 줄어들게 하는 제어를 통하여, 제동감 향상 및 에너지 회수율을 높일 수 있도록 한 전기자동차의 회생제동 제어 방법에 관한 것이다.The present invention relates to a regenerative braking control method of an electric vehicle, and more particularly, to improve the braking feeling through a control to gradually reduce the regenerative braking torque after the start of ABS control without reducing the regenerative braking torque before starting ABS control during regenerative braking. And it relates to a regenerative braking control method of the electric vehicle to increase the energy recovery rate.

통상, 전기자동차는 배터리(battery)에 저장된 전기에너지를 이용하여 모터(motor)를 구동하고, 모터의 구동력을 전체 또는 일부 동력원으로 사용하는 자동차를 의미한다.In general, an electric vehicle refers to a vehicle that drives a motor by using electric energy stored in a battery and uses the driving force of the motor as a whole or part of a power source.

현재, 전기자동차는 배터리의 전기에너지만을 동력원으로 사용하는 순수 전기자동차(pure electric vehicle)와, 내연기관 엔진을 구비하여 엔진에서 발생되는 동력을 배터리의 충전 및/또는 자동차의 구동에 사용하는 하이브리드 전기자동차(HEV: Hybrid Electric Vehicle)로 구분된다.Currently, electric vehicles have a pure electric vehicle that uses only the electric energy of the battery as a power source, and a hybrid electric vehicle that has an internal combustion engine engine and uses the power generated by the engine to charge the battery and / or drive the vehicle. It is classified as a hybrid electric vehicle (HEV).

본원 명세서에서, 전기자동차의 용어는 좁은 의미로 하이브리드 전기자동차와 구별되는 순수한 전기자동차만을 의미하기도 하지만, 순수 전기자동차와 하이브리드 전기자동차를 포괄하는 넓은 의미로 사용되며, 하나 이상의 배터리가 구비되고 그 배터리에 저장된 전기에너지가 자동차의 구동력으로 사용되는 임의의 자동차를 지칭하는 의미로 사용된다.In the present specification, the term electric vehicle is used in a broad sense encompassing pure electric vehicles and hybrid electric vehicles, although it may mean only pure electric vehicles that are distinguished from hybrid electric vehicles in a narrow sense, and are provided with one or more batteries. The electrical energy stored in the term is used to refer to any vehicle used as a driving force of the vehicle.

즉, 전기적 모터에 의해서 차량을 주 또는 보조동력으로 구동시키는 차량에 있어서, 통상 전기자동차나 하이브리드 자동차를 전기자동차라 하며, 구동모터는 차량을 구동시키는 목적 이외에 차량 감속시 회생제동을 함으로써, 운동 에너지를 회수하여 저장하는 역할을 하게 된다.That is, in a vehicle which drives the vehicle by main or auxiliary power by an electric motor, an electric vehicle or a hybrid vehicle is generally referred to as an electric vehicle, and the drive motor performs kinetic energy by regenerative braking when the vehicle is decelerated, in addition to driving the vehicle. It will serve to retrieve and store.

보통, 전기자동차는 제동(braking)시에 제동력의 일부를 발전에 사용하고, 발전된 전기에너지를 배터리의 충전에 사용하는 바, 자동차의 주행속도에 의한 운동에너지(kinetic energy)의 일부를 발전기의 구동에 필요한 에너지로 사용함으로써, 운동에너지의 저감(즉, 주행속도의 감소)과 전기에너지의 발전을 동시에 구현된다.In general, an electric vehicle uses a part of braking force for power generation during braking, and uses generated electric energy for charging a battery. As a result, a part of kinetic energy by driving speed of a vehicle is driven by a generator. By using it as the energy required, the reduction of kinetic energy (that is, the reduction of the traveling speed) and the generation of electric energy are realized simultaneously.

이러한 방식의 제동방법을 회생제동(regenerative braking)이라고 한다.This method of braking is called regenerative braking.

상기 회생제동시 전기에너지의 생성은 별도의 발전기 혹은 상기 모터를 역구 동함으로써 이루어질 수 있다.The generation of electrical energy during the regenerative braking may be achieved by reverse driving the separate generator or the motor.

전기자동차의 제동시 회생제동(regenerative braking) 제어에 의하여 전기자동차의 주행거리를 향상시킬 수 있고, 하이브리드 전기자동차의 경우에는 연비를 향상함과 아울러, 유해 배기가스의 배출을 줄일 수 있다.The regenerative braking control during braking of the electric vehicle can improve the mileage of the electric vehicle, and in the case of a hybrid electric vehicle, it can improve fuel economy and reduce the emission of harmful exhaust gas.

한편, 유압에 의해 제동력을 일으키는 유압제동시스템(hydraulic brake system)이 전기자동차에서도 갖추어져 있는데, 이는 회생제동력만으로는 충분한 제동효과를 얻을 수 없는 경우가 있으며, 또한 회생제동력은 모터와 연결된 구동륜에서만 발생되므로 구동륜만의 제동으로는 바람직한 차량거동제어(vehicle dynamics control)가 얻어질 수 없기 때문이다.On the other hand, a hydraulic brake system for generating a braking force by hydraulic pressure is also provided in an electric vehicle, which may not be able to obtain a sufficient braking effect only by regenerative braking force, and also because the regenerative braking force is generated only in a driving wheel connected to a motor. This is because favorable vehicle dynamics control cannot be obtained with only braking.

종래기술로서, 미국특허 공개번호 US2002/018266 에는 ABS 제어가 시작되려고 할 때의 제동력 제어 장치가 공개되어 있는 바, 그 작동원리를 보면 회생 제동중 ABS 제어가 시작되려고 할 때(ABS 제어전) 회생제동 토크를 점진적으로 줄여나가고, ABS 제어가 시작되면 회생제동 토크를 '0'으로 세팅하며, 필요한 제동토크 제어는 유압 제동토크로 제어하는 기술이 공개되어 있다.As a prior art, US Patent Publication No. US2002 / 018266 discloses a braking force control device when ABS control is to be started, and the operation principle shows that ABS control is to be started during regenerative braking (before ABS control). The technique of gradually reducing the braking torque, setting the regenerative braking torque to '0' when the ABS control is started, and controlling the necessary braking torque with the hydraulic braking torque is disclosed.

즉, 첨부한 도 2에 도시된 바와 같이 전륜 휠 슬립량이 커져 ABS 제어가 시작되려고 하는 상황의 발생시, 전륜의 회생제동 토크 값을 줄여나가고 동시에 후륜의 회생제동 토크값도 줄여 나가는 제어가 이루어지는 바, 그 이유는 전륜 휠 슬립으로 ABS 제어시 연이어 후륜의 ABS 제어가 필요한 상황이 자주 일어나기 때문이다.That is, as shown in FIG. 2, when the amount of front wheel slip is increased and ABS control is about to start, the regenerative braking torque value of the front wheel is reduced and the regenerative braking torque value of the rear wheel is also reduced. The reason for this is that there is a need for ABS control of the rear wheels in succession during ABS control with front wheel slip.

이렇게 하면 후륜의 ABS 제어가 필요한 시점에서 줄여야하는 회생제동 토크 값('0'으로 세팅할 때)이 이미 줄어든 상태가 된다.This reduces the regenerative braking torque value (when set to '0') that needs to be reduced when ABS control of the rear wheel is required.

첨부한 도 3에 도시된 바와 같이, 후륜 휠 슬립량이 커져 ABS 제어가 시작되려고 하는 상황 발생시 후륜의 회생제동 토크값을 줄여나가고, 이때는 전륜의 회생제동 토크값은 줄여나가지 않는 제어가 이루어지는데, 그 이유는 후륜 ABS 제어에 이어서 전륜의 ABS 제어가 필요한 상황이 자주 일어나지 않기 때문이다.As shown in FIG. 3, the regenerative braking torque value of the rear wheel is decreased when the rear wheel slip amount is increased and ABS control is about to be started. In this case, the regenerative braking torque value of the front wheel is not reduced. This is because the situation where the rear wheel ABS control is followed by the ABS control of the front wheel does not occur frequently.

그러나, 이러한 종래의 회생제동력 제어 방법은 다음과 같은 문제점이 있다.However, the conventional regenerative braking force control method has the following problems.

회생제동 중, ABS의 작동 진입 전에 미리 회생제동 토크를 줄임으로써, 모터의 발전으로 인한 충전량 등의 에너지 회생량이 줄어드는 문제점이 있다.During the regenerative braking, by reducing the regenerative braking torque before the operation of the ABS, there is a problem that the energy regenerative amount such as the charging amount due to the generation of the motor is reduced.

또한, 도 2 및 도 3에서 보듯이, t2 시점에서 회생제동량이 "0"으로 줄어들 경우, 목표 제동력보다 제동력이 부족하게 된다.2 and 3, when the regenerative braking amount is reduced to "0" at time t2, the braking force is shorter than the target braking force.

즉, ABS 제어시 제동력을 줄이기는 하지만, t2 시점의 회생제동 감소량(회생토크는 t2에서 0)이 제어에 필요한 토크 감소량보다 클 경우 제동력이 부족하고, 제어 안정성이 부족해진다.That is, although the braking force is reduced during ABS control, when the regenerative braking reduction amount (regenerative torque is 0 at t2) is greater than the torque reduction amount necessary for the control, the braking force is insufficient and the control stability is insufficient.

또한, t1~t2 구간에서의 회생제동 토크의 부족분을 채우기 위해 유압제동 토크를 증가시킬 경우, 모터, 밸브 작동이 필요하므로 부품 내구성면에서도 불리한 단점이 있다.In addition, when increasing the hydraulic braking torque in order to fill the shortage of the regenerative braking torque in the t1 ~ t2 interval, there is a disadvantage in terms of component durability because the motor, valve operation is required.

본 발명은 상기와 같은 종래의 문제점을 감안하여 안출한 것으로서, 회생 제동중 ABS 제어가 시작되려고 할 때(ABS 제어전) 회생제동 토크를 점진적으로 줄여 나가고, ABS 제어가 시작되더라도 회생제동 토크를 '0'으로 세팅하지 않고, 점진적으로 계속 줄여나가도록 함으로써, ABS 제어 시작시의 회생제동 토크의 급감이 없으므로 제동감에서 더 유리하고, 모터의 발전으로 인한 에너지 회수율을 높일 수 있도록 한 전기자동차용 회생제동 제어 방법을 제공하는데 그 목적이 있다.The present invention has been made in view of the above-mentioned conventional problems, and gradually reduces the regenerative braking torque when ABS control is started during regenerative braking (before ABS control) and reduces the regenerative braking torque even when ABS control starts. By not continuously setting it to 0 ', the regenerative braking torque at the start of ABS control is not reduced sharply, so it is more advantageous in the braking feeling, and the regenerative for electric vehicles can increase the energy recovery rate due to the development of the motor. The purpose is to provide a braking control method.

상기한 목적을 달성하기 위한 본 발명은 전기자동차의 회생제동이 진행되는 단계와; 상기 회생제동중 전륜 휠 슬립량을 검출하는 단계와; 상기 전륜 휠 슬립량을 검출한 결과, ABS 작동 개시전에 슬립량이 증가하고 있는 것으로 나타나면 회생제동 제어기에 의하여 회생제동 토크가 감소되지 않게 제어되는 단계와; 상기 전륜 휠 슬립량을 검출한 결과, 슬립량이 기준치보다 클 경우 ABS의 작동이 개시되는 동시에 회생제동 제어기에 의하여 회생제동 토크가 차량의 정지시까지 계속 감소하는 단계와; 상기 ABS 작동 개시전부터 ABS 작동중에 점차 감소하는 회생제동 토크로 인하여 모터의 발전과 함께 에너지 회수가 이루어지는 단계를 포함하는 것을 특징으로 하는 전기자동차용 회생제동 제어 방법을 제공한다.The present invention for achieving the above object is the step of performing a regenerative braking of the electric vehicle; Detecting a front wheel slip amount during the regenerative braking; Controlling the regenerative braking torque not to be decreased by a regenerative braking controller if the slip amount is detected before the ABS operation is started as a result of detecting the front wheel slip amount; As a result of detecting the front wheel slip amount, when the slip amount is greater than the reference value, the ABS operation is started and the regenerative braking torque is continuously reduced by the regenerative braking controller until the vehicle is stopped; It provides a regenerative braking control method for an electric vehicle, including the step of energy recovery with the generation of the motor due to the regenerative braking torque gradually decreases during the ABS operation from the start of the ABS operation.

바람직한 구현예로서, 상기 ABS 작동 개시후, 필요한 제동토크 감소분을 회생제동 토크에서 줄이되, 필요한 제동토크 감소분이 회생제동 토크의 감소분보다 클 경우 브레이크 장치의 유압제동 토크를 줄여주는 제어가 이루어지는 것을 특징으로 한다.In a preferred embodiment, after the start of the ABS operation, the required braking torque reduction is reduced from the regenerative braking torque, and when the required braking torque reduction is greater than the reduction of the regenerative braking torque, the control is performed to reduce the hydraulic braking torque of the brake device. do.

상기한 목적을 달성하기 위한 본 발명의 다른 방법은 전기자동차의 회생제동 이 진행되는 단계와; 상기 회생제동중 전륜 휠 슬립량을 검출하는 단계와; 상기 전륜 휠 슬립량을 검출한 결과, ABS 작동 개시전에 슬립량이 증가하고 있는 것으로 나타나면 회생제동 제어기에 의하여 회생제동 토크가 감소되지 않게 제어되는 단계와; 상기 전륜 휠 슬립량을 검출한 결과, 슬립량이 기준치보다 클 경우 ABS의 작동이 개시되는 동시에 브레이크 장치의 유압제동 토크가 차량의 정지시까지 계속 감소하는 단계와; 상기 ABS 작동 개시전부터 ABS 작동중에 점차 감소하는 유압제동 토크로 인하여 회생제동 토크가 크게 유지되어 모터의 발전과 함께 에너지 회수가 크게 이루어지는 단계를 포함하는 것을 특징으로 한다.Another method of the present invention for achieving the above object is the step of performing regenerative braking of the electric vehicle; Detecting a front wheel slip amount during the regenerative braking; Controlling the regenerative braking torque not to be decreased by a regenerative braking controller if the slip amount is detected before the ABS operation is started as a result of detecting the front wheel slip amount; When the amount of slip of the front wheel is detected, when the amount of slip is greater than the reference value, the operation of the ABS is started and the hydraulic braking torque of the brake device continues to decrease until the vehicle is stopped; The regenerative braking torque is largely maintained due to the gradually decreasing hydraulic braking torque during the ABS operation from the start of the ABS operation, and the energy recovery is greatly performed with the generation of the motor.

바람직한 구현예로서, 상기 ABS 작동 개시후, 필요한 제동토크 감소분을 유압제동 토크에서 줄이되, 필요한 제동토크 감소분이 유압제동 토크의 감소분보다 클 경우 상기 회생제동 토크를 줄여주는 제어가 이루어지는 것을 특징으로 한다.In a preferred embodiment, after the ABS operation is started, the required braking torque reduction is reduced in the hydraulic braking torque, and when the required braking torque reduction is greater than the reduction in the hydraulic braking torque, it is characterized in that the control is performed to reduce the regenerative braking torque.

이하, 본 발명의 바람직한 실시예를 첨부도면을 참조로 상세하게 설명하기로 한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

전술한 바와 같이, 회생제동중 ABS 제어가 시작되려고 할 때의 제동력을 제어하는 종래의 방법은 회생 제동중 ABS 제어가 시작되려고 할 때(ABS 제어전) 회생제동 토크를 점진적으로 줄여나가고, ABS 제어가 시작되면 회생제동 토크를 '0'으로 세팅되게 제어하는 점에 주안점이 있다.As described above, the conventional method of controlling the braking force when ABS control is about to start during regenerative braking gradually reduces the regenerative braking torque when ABS control is about to start (before ABS control) during regenerative braking, and ABS control The main point is to control the regenerative braking torque to be set to '0' when is started.

이에 반하여, 본 발명은 회생제동시 휠의 슬립량이 감지되지만 ABS 작동이 이루어지지 않는 ABS 작동 바로 전에도 회생제동토크를 감소시키지 않고, ABS 제어가 시작되는 순간부터 회생제동토크를 점진적으로 계속 줄여나가도록 함으로써, ABS 제어 시작전후의 회생제동토크의 급감이 없으므로 제동감에서 더 유리하고, 모터의 발전으로 인한 에너지 회수율을 높일 수 있도록 한 점에 주안점이 있다.On the contrary, the present invention does not reduce the regenerative braking torque even before the ABS operation in which the slip amount of the wheel is detected but the ABS operation is not performed, and the regenerative braking torque is gradually reduced from the moment when the ABS control is started. As a result, there is no sudden drop in the regenerative braking torque before and after the start of the ABS control, which is more advantageous in the sense of braking, and the main point is to increase the energy recovery rate due to the development of the motor.

첨부한 도 1a는 본 발명에 따른 전기자동차용 회생제동 제어 방법의 일실시예를 설명하는 그래프이다.1A is a graph illustrating an embodiment of a regenerative braking control method for an electric vehicle according to the present invention.

본 발명은 ABS 제어 시작전후의 회생제동 토크를 제어하는 방법으로서, 전기자동차의 회생제동이 진행되는 동안 ABS 작동전에는 전기자동차의 모터에 의한 회생제동토크가 감소되지 않는 제어가 이루어지고, ABS작동후에 회생제동토크를 점진적으로 감소시켜 에너지 회수율을 좀 더 높이고자 한 것이다.The present invention is a method for controlling the regenerative braking torque before and after the start of the ABS control, while the regenerative braking torque by the motor of the electric vehicle is not reduced before the ABS operation during the regenerative braking of the electric vehicle is made, after the ABS operation The purpose is to increase the energy recovery rate by gradually reducing the regenerative braking torque.

즉, 회생제동중 전륜의 휠 슬립량을 검출한 결과, ABS 작동 개시전에 슬립량이 증가하고 있는 것으로 판정되면, 회생제동 제어기에 의하여 모터에 작동신호가 전송되어 모터에 의한 회생제동 토크가 감소되지 않는 제어가 이루어지게 된다.That is, if the wheel slip amount of the front wheel is detected during regenerative braking, and it is determined that the slip amount is increased before the ABS operation starts, the regenerative braking controller sends an operation signal to the motor so that the regenerative braking torque by the motor is not reduced. Control is made.

이때, 상기 전륜의 휠 슬립량을 검출한 결과, 슬립량이 기준치보다 클 경우 ABS의 작동이 개시되는 동시에 회생제동 제어기에 의하여 회생제동 토크가 차량의 정지시까지 계속 감소하는 제어가 이루어지게 된다.At this time, as a result of detecting the wheel slip amount of the front wheel, when the slip amount is larger than the reference value, the ABS operation is started and the regenerative braking torque is continuously reduced by the regenerative braking controller until the vehicle is stopped.

보다 상세하게는, ABS 작동시 회생제동 토크를 기존과 같이 "0"으로 셋팅하지 않고 동일한 기울기를 갖고 계속 줄여 나감으로써, 모터의 발전에 따른 에너지 회수가 이루어지게 된다.More specifically, in the ABS operation, the regenerative braking torque is continuously reduced with the same inclination rather than being set to "0" as before, thereby recovering energy according to the development of the motor.

한편, 상기 ABS 작동 개시후, 필요한 제동토크 감소분을 회생제동 토크에서 줄이되, 필요한 제동토크 감소분이 회생제동 토크의 감소분보다 클 경우 브레이크 장치의 유압제동 토크를 줄여주는 제어가 이루어진다.On the other hand, after the start of the ABS operation, the required braking torque reduction is reduced from the regenerative braking torque, and if the required braking torque reduction is greater than the reduction of the regenerative braking torque, the control is made to reduce the hydraulic braking torque of the brake device.

이와 같이, 상기 ABS 작동 개시전에는 일단 회생제동 토크가 감소되지 않는 제어와 함께, ABS 작동 개시후에 회생제동 토크가 기존과 같이 "0"으로 셋팅되지 않고 점차 감소되게 하는 제어를 함으로써, 제동감을 향상시킬 수 있고, 모터의 발전과 함께 에너지 회수율을 향상시킬 수 있게 된다.Thus, the braking feeling is improved by controlling the regenerative braking torque not to be reduced once before the ABS operation is started, and controlling the regenerative braking torque to be gradually reduced without setting the value to "0" after the ABS operation is started. It is possible to improve the energy recovery rate with the development of the motor.

첨부한 도 1b는 본 발명에 따른 전기자동차용 회생제동 제어 방법의 다른 실시예를 설명하는 그래프이다.1B is a graph illustrating another embodiment of the regenerative braking control method for an electric vehicle according to the present invention.

본 발명의 다른 실시예는 상술한 일 실시예와 같이, 회생제동중 휠 슬립량 증가로 ABS 제어가 시작하려고 할 때(작동 전)에는 회생 제동량을 줄이지 않고, ABS작동 개시후에 필요한 회생제동 토크 감소분을 회생제동 토크를 줄이지 않고, 먼저 유압제동 토크에서 줄어들게 하는 방법을 제공하고자 한 것이다.According to another embodiment of the present invention, the regenerative braking torque required after the ABS operation is started without reducing the regenerative braking amount when the ABS control is to be started (before operation) due to the increase of the wheel slip amount during the regenerative braking. It is intended to provide a way to reduce the reduction in hydraulic braking torque without reducing the regenerative braking torque.

즉, 상술한 일 실시예와 반대로, 상기 ABS 작동 개시후, 필요한 제동토크 감소분을 유압제동 토크에서 줄이되, 필요한 제동토크 감소분이 유압제동 토크의 감소분보다 클 경우 회생제동기에 의하여 회생제동 토크를 줄여주는 제어가 이루어진다.That is, in contrast to the embodiment described above, after the start of the ABS operation, the required braking torque reduction is reduced from the hydraulic braking torque, and when the required braking torque reduction is greater than the reduction of the hydraulic braking torque, the regenerative braking torque is reduced. Control is made.

이와 같이, 본 발명의 다른 실시예는 ABS 작동시 회생제동 토크를 줄이지 않게 되므로, 모터의 발전에 의한 에너지 회수율이 일 실시예에 비하여 더욱 증대시킬 수 있다.As such, since another embodiment of the present invention does not reduce the regenerative braking torque during ABS operation, the energy recovery rate due to power generation of the motor may be further increased as compared with the embodiment.

이상에서 본 바와 같이, 본 발명에 따른 전기자동차용 회생제동 제어 방법에 의하면, 회생 제동중 ABS 제어가 시작되려고 할 때(ABS 제어전) 회생제동 토크를 줄이지 않고, ABS 제어가 시작된 후 회생제동 토크를 기존과 달리 '0'으로 세팅하지 않고, 점진적으로 계속 줄여나가도록 함으로써, ABS 제어 시작시의 회생제동토크의 급감이 없으므로 제동감에서 더 유리하고, 모터의 발전으로 인한 에너지 회수율을 높일 수 있는 장점이 있다.As described above, according to the regenerative braking control method for an electric vehicle according to the present invention, the regenerative braking torque after the ABS control is started without reducing the regenerative braking torque when ABS control is to be started (before ABS control) during regenerative braking. It is more advantageous in braking feeling because there is no sudden drop in regenerative braking torque at the start of ABS control, by gradually decreasing it continuously without setting it to '0' unlike the existing one, and it is possible to increase the energy recovery rate due to the development of the motor. There is an advantage.

또한, ABS 작동 개시후, 필요한 제동토크 감소분이 유압제동 토크에서 먼저 줄어들게 하고, 회생제동 토크는 줄어들지 않게 제어함으로써, 모터의 발전에 의한 에너지 회수율을 더욱 증대시킬 수 있다.In addition, after the start of the ABS operation, the required braking torque reduction is first reduced in the hydraulic braking torque, and the regenerative braking torque is controlled so as not to decrease, thereby further increasing the energy recovery rate by the generation of the motor.

Claims (4)

전기자동차의 회생제동이 진행되는 단계와;Regenerative braking of the electric vehicle is performed; 상기 회생제동중 전륜 휠 슬립량을 검출하는 단계와;Detecting a front wheel slip amount during the regenerative braking; 상기 전륜 휠 슬립량을 검출한 결과, ABS 작동 개시전에 슬립량이 증가하고 있는 것으로 나타나면 회생제동 제어기에 의하여 회생제동 토크가 감소되지 않게 제어되는 단계와;Controlling the regenerative braking torque not to be decreased by a regenerative braking controller if the slip amount is detected before the ABS operation is started as a result of detecting the front wheel slip amount; 상기 전륜 휠 슬립량을 검출한 결과, 슬립량이 기준치보다 클 경우 ABS의 작동이 개시되는 동시에 회생제동 제어기에 의하여 회생제동 토크가 차량의 정지시까지 계속 감소하는 단계와;As a result of detecting the front wheel slip amount, when the slip amount is greater than the reference value, the ABS operation is started and the regenerative braking torque is continuously reduced by the regenerative braking controller until the vehicle is stopped; 상기 ABS 작동 개시전부터 ABS 작동중에 점차 감소하는 회생제동 토크로 인하여 모터의 발전과 함께 에너지 회수가 이루어지는 단계;Energy recovery with generation of the motor due to the regenerative braking torque gradually decreasing during the ABS operation from the start of the ABS operation; 를 포함하는 것을 특징으로 하는 전기자동차용 회생제동 제어 방법.Regenerative braking control method for an electric vehicle comprising a. 청구항 1에 있어서, 상기 ABS 작동 개시후, 필요한 제동토크 감소분을 회생제동 토크에서 줄이되, 필요한 제동토크 감소분이 회생제동 토크의 감소분보다 클 경우 브레이크 장치의 유압제동 토크를 줄여주는 제어가 이루어지는 것을 특징으로 하는 전기자동차용 회생제동 제어 방법.The method of claim 1, wherein after the start of the ABS operation, the required braking torque reduction is reduced from the regenerative braking torque, and the control is performed to reduce the hydraulic braking torque of the brake device when the required braking torque reduction is greater than the reduction of the regenerative braking torque. Regenerative braking control method for electric vehicles 전기자동차의 회생제동이 진행되는 단계와;Regenerative braking of the electric vehicle is performed; 상기 회생제동중 전륜 휠 슬립량을 검출하는 단계와;Detecting a front wheel slip amount during the regenerative braking; 상기 전륜 휠 슬립량을 검출한 결과, ABS 작동 개시전에 슬립량이 증가하고 있는 것으로 나타나면 회생제동 제어기에 의하여 회생제동 토크가 감소되지 않게 제어되는 단계와;Controlling the regenerative braking torque not to be decreased by a regenerative braking controller if the slip amount is detected before the ABS operation is started as a result of detecting the front wheel slip amount; 상기 전륜 휠 슬립량을 검출한 결과, 슬립량이 기준치보다 클 경우 ABS의 작동이 개시되는 동시에 브레이크 장치의 유압제동 토크가 차량의 정지시까지 계속 감소하는 단계와;When the amount of slip of the front wheel is detected, when the amount of slip is greater than the reference value, the operation of the ABS is started and the hydraulic braking torque of the brake device continues to decrease until the vehicle is stopped; 상기 ABS 작동 개시전부터 ABS 작동중에 점차 감소하는 유압제동 토크로 인하여 회생제동 토크가 크게 유지되어 모터의 발전과 함께 에너지 회수가 크게 이루어지는 단계;The regenerative braking torque is largely maintained due to the gradually decreasing hydraulic braking torque during the ABS operation from the start of the ABS operation so that the energy recovery is greatly performed with the generation of the motor; 를 포함하는 것을 특징으로 하는 전기자동차의 회생제동 제어 방법.Regenerative braking control method for an electric vehicle comprising a. 청구항 3에 있어서, 상기 ABS 작동 개시후, 필요한 제동토크 감소분을 유압제동 토크에서 줄이되, 필요한 제동토크 감소분이 유압제동 토크의 감소분보다 클 경우 상기 회생제동 토크를 줄여주는 제어가 이루어지는 것을 특징으로 하는 전기자동차의 회생제동 제어 방법.The method of claim 3, wherein after the ABS operation is started, the required braking torque reduction is reduced from the hydraulic braking torque, and the control is performed to reduce the regenerative braking torque when the required braking torque reduction is greater than the reduction of the hydraulic braking torque. Regenerative braking control method of car.
KR1020060104302A 2006-10-26 2006-10-26 Method for control regenerative braking of electric vehicle KR20080037342A (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101393284B1 (en) * 2012-06-19 2014-05-27 동양기전 주식회사 Apparatus and method of prohibiting from locking in electric vehicle
CN109808501A (en) * 2017-11-22 2019-05-28 河南森源重工有限公司 A kind of method and its system of braking energy of electric automobiles recycling
CN109808502A (en) * 2017-11-22 2019-05-28 比亚迪股份有限公司 A kind of energy feedback withdrawal control method suitable for pure electric vehicle
CN112339569A (en) * 2020-11-17 2021-02-09 奇瑞商用车（安徽）有限公司 New energy vehicle braking energy recovery control method
WO2022100319A1 (en) * 2020-11-10 2022-05-19 长城汽车股份有限公司 Torque control method and apparatus for slippery road surface, and terminal device
CN114604212A (en) * 2022-03-30 2022-06-10 东风商用车有限公司 Fully-decoupled braking energy recovery control method, device, equipment and storage medium
CN114987215A (en) * 2022-08-05 2022-09-02 南通宏致汽车电子科技有限公司 New energy automobile braking control system

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101393284B1 (en) * 2012-06-19 2014-05-27 동양기전 주식회사 Apparatus and method of prohibiting from locking in electric vehicle
CN109808501A (en) * 2017-11-22 2019-05-28 河南森源重工有限公司 A kind of method and its system of braking energy of electric automobiles recycling
CN109808502A (en) * 2017-11-22 2019-05-28 比亚迪股份有限公司 A kind of energy feedback withdrawal control method suitable for pure electric vehicle
CN109808502B (en) * 2017-11-22 2022-02-08 比亚迪股份有限公司 Energy feedback quit control method suitable for pure electric vehicle
CN109808501B (en) * 2017-11-22 2022-08-02 河南森源重工有限公司 Method and system for recovering braking energy of electric automobile
WO2022100319A1 (en) * 2020-11-10 2022-05-19 长城汽车股份有限公司 Torque control method and apparatus for slippery road surface, and terminal device
CN112339569A (en) * 2020-11-17 2021-02-09 奇瑞商用车（安徽）有限公司 New energy vehicle braking energy recovery control method
CN114604212A (en) * 2022-03-30 2022-06-10 东风商用车有限公司 Fully-decoupled braking energy recovery control method, device, equipment and storage medium
CN114987215A (en) * 2022-08-05 2022-09-02 南通宏致汽车电子科技有限公司 New energy automobile braking control system
CN114987215B (en) * 2022-08-05 2022-10-25 南通宏致汽车电子科技有限公司 New energy automobile braking control system

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