KR20080037344A - Method for control regenerative braking of electric vehicle - Google Patents

Method for control regenerative braking of electric vehicle Download PDF

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KR20080037344A
KR20080037344A KR1020060104304A KR20060104304A KR20080037344A KR 20080037344 A KR20080037344 A KR 20080037344A KR 1020060104304 A KR1020060104304 A KR 1020060104304A KR 20060104304 A KR20060104304 A KR 20060104304A KR 20080037344 A KR20080037344 A KR 20080037344A
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South Korea
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regenerative braking
abs
braking torque
electric vehicle
front wheel
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KR1020060104304A
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Korean (ko)
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전갑배
양병철
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현대자동차주식회사
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Priority to KR1020060104304A priority Critical patent/KR20080037344A/en
Priority to US11/648,765 priority patent/US7654620B2/en
Publication of KR20080037344A publication Critical patent/KR20080037344A/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 braking by gradually reducing regenerative braking torque without setting the regenerative braking torque as 0 during ABS(Anti-lock Brake System) operation from a start of the ABS operation. 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; reducing regenerative braking torque 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 at the same time through the gradually reduced regenerative braking torque in the ABS operation from before the start of the ABS operation.

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 1은 본 발명에 따른 전기자동차용 회생제동 제어 방법을 설명하는 그래프,1 is a graph 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 시작과 함께 회생제동토크를 "0"으로 셋팅하지 않고 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, through the control to gradually reduce the regenerative braking torque with the start of ABS control during regenerative braking without setting the regenerative braking torque to "0", improving braking feeling and energy recovery rate The present invention relates to a regenerative braking control method of an electric vehicle.

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 토크를 감소시키는 제어가 이루어지는 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; A control is performed to reduce the regenerative braking torque by a regenerative braking controller if it is determined that the slip amount is increased 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 ABS작동중 이루어지는 회생제동 토크 이외에 부족한 제동토크는 브레이크 장치의 유압토크가 사용되는 것을 특징으로 한다.In a preferred embodiment, the braking torque is insufficient in addition to the regenerative braking torque made during the ABS operation is characterized in that the hydraulic torque of the brake device is used.

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 제 어하는 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, The main point is to control the regenerative braking torque to be set to '0' when control is started.

이에 반하여, 본 발명은 ABS 제어가 시작되더라도 회생제동 토크를 '0'으로 세팅하지 않고, 점진적으로 계속 줄여나가도록 함으로써, ABS 제어 시작시의 회생제동토크의 급감이 없으므로 제동감에서 더 유리하고, 모터의 발전으로 인한 에너지 회수율을 높일 수 있도록 한 점에 주안점이 있다.On the contrary, the present invention is advantageous in braking feeling because there is no sudden drop in the regenerative braking torque at the start of ABS control by gradually decreasing the regenerative braking torque without setting the regenerative braking torque to '0' even when the ABS control is started. The main point is to increase the energy recovery rate due to the development of the motor.

첨부한 도 1은 본 발명에 따른 전기자동차용 회생제동 제어 방법을 설명하는 그래프이다.1 is a graph illustrating a regenerative braking control method for an electric vehicle according to the present invention.

본 발명은 ABS 제어 시작시, 회생제동 토크를 제어하는 방법으로서, 전기자동차의 회생제동이 진행되는 동안 회생제동토크를 점진적으로 감소시켜 에너지 회수율을 좀 더 높이고자 한 것이다.The present invention is a method for controlling the regenerative braking torque at the start of ABS control, to increase the energy recovery rate by gradually reducing the regenerative braking torque during the regenerative braking of the electric vehicle.

즉, 회생제동중 전륜 휠 슬립량을 검출한 결과, ABS 작동 개시전에 휠의 슬립량이 증가하고 있는 것으로 판정되면, 회생제동 제어기에 의하여 회생제동 토크를 감소시키는 제어가 먼저 이루어지게 된다.That is, when the front wheel wheel slip amount is detected during regenerative braking, and it is determined that the slip amount of the wheel is increased before the ABS operation starts, the control to reduce the regenerative braking torque is first performed by the regenerative braking controller.

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

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.

이와 같이, 상기 ABS 작동 개시전부터 ABS 작동중에 회생제동 토크가 기존과 같이 "0"으로 셋팅되지 않고 점차 감소하는 제어를 통하여 제동감을 향상시킬 수 있고, 모터의 발전과 함께 에너지 회수율을 향상시킬 수 있게 된다.As such, the regenerative braking torque can be improved by gradually decreasing the regenerative braking torque during the ABS operation from the start of the ABS operation, rather than being set to "0" as before, and improving the energy recovery rate with the development of the motor. Will be.

한편, 상기 ABS작동중 이루어지는 회생제동 토크 이외에 부족한 제동토크는 브레이크 장치의 유압제동 토크가 사용된다.On the other hand, in addition to the regenerative braking torque made during the ABS operation, the braking torque insufficient is the hydraulic braking torque of the brake device.

이상에서 본 바와 같이, 본 발명에 따른 전기자동차용 회생제동 제어 방법에 의하면, 회생 제동중 ABS 제어가 시작되려고 할 때(ABS 제어전) 회생제동 토크를 점진적으로 줄여나가고, ABS 제어가 시작되더라도 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, when the ABS control is to be started (before ABS control) during regenerative braking, the regenerative braking torque is gradually reduced, and the regenerative braking is performed even when the ABS control is started. It is more advantageous in braking feeling because there is no sudden drop of regenerative braking torque at the start of ABS control, by gradually decreasing the braking torque without setting it to '0' unlike the existing one, and increasing the energy recovery rate due to the development of the motor. There are advantages to it.

Claims (2)

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 토크를 감소시키는 제어가 이루어지는 단계와; A control is performed to reduce the regenerative braking torque by a regenerative braking controller if it is determined that the slip amount is increased 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 토크를 차량의 정지시까지 계속 감소시키는 제어가 이루어지는 단계와;As a result of detecting the amount of slip of the front wheel, starting operation of the ABS when the slip amount is larger than the reference value and controlling the regenerative braking torque to be 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 ABS작동중 이루어지는 회생제동 토크 이외에 부족한 제동토크는 브레이크 장치의 유압토크가 사용되는 것을 특징으로 하는 전기자동차용 회생제동 제어 방법.The regenerative braking control method for an electric vehicle according to claim 1, wherein the braking torque insufficient for the braking torque other than the regenerative braking torque generated during the operation of ABS is used.
KR1020060104304A 2006-10-26 2006-10-26 Method for control regenerative braking of electric vehicle KR20080037344A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101294126B1 (en) * 2009-09-25 2013-08-08 주식회사 만도 Regenerative braking system
KR101393284B1 (en) * 2012-06-19 2014-05-27 동양기전 주식회사 Apparatus and method of prohibiting from locking in electric vehicle
US20150217643A1 (en) * 2014-02-03 2015-08-06 Ford Global Technologies, Llc Regenerative braking control system and method
CN109955721A (en) * 2017-12-25 2019-07-02 陕西汽车集团有限责任公司 A kind of electric vehicle brake control strategy based on ABS
KR20190076358A (en) * 2017-12-22 2019-07-02 현대자동차주식회사 Methdo for applying coast regenerating torque of vehicle
CN111823873A (en) * 2020-07-11 2020-10-27 的卢技术有限公司 Anti-lock braking control method for parallel energy recovery electric automobile

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101294126B1 (en) * 2009-09-25 2013-08-08 주식회사 만도 Regenerative braking system
KR101393284B1 (en) * 2012-06-19 2014-05-27 동양기전 주식회사 Apparatus and method of prohibiting from locking in electric vehicle
US20150217643A1 (en) * 2014-02-03 2015-08-06 Ford Global Technologies, Llc Regenerative braking control system and method
US11027613B2 (en) * 2014-02-03 2021-06-08 Ford Global Technologies, Llc Regenerative braking control system and method
KR20190076358A (en) * 2017-12-22 2019-07-02 현대자동차주식회사 Methdo for applying coast regenerating torque of vehicle
CN109955721A (en) * 2017-12-25 2019-07-02 陕西汽车集团有限责任公司 A kind of electric vehicle brake control strategy based on ABS
CN111823873A (en) * 2020-07-11 2020-10-27 的卢技术有限公司 Anti-lock braking control method for parallel energy recovery electric automobile

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