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CN101903228A - 混合动力车辆电制动力补偿的制动方法 - Google Patents

混合动力车辆电制动力补偿的制动方法 Download PDF

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CN101903228A
CN101903228A CN2007801020091A CN200780102009A CN101903228A CN 101903228 A CN101903228 A CN 101903228A CN 2007801020091 A CN2007801020091 A CN 2007801020091A CN 200780102009 A CN200780102009 A CN 200780102009A CN 101903228 A CN101903228 A CN 101903228A
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computing machine
braking force
braking
hydraulic
driving device
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CN101903228B (zh
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V·缪洛
R·德尔普拉斯
O·梅尚
Y·勒南德尔
N·托万
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PSA Automobiles SA
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Peugeot Citroen Automobiles SA
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Abstract

本发明涉及一种用于混合动力车辆(1)的制动方法，该车辆包括由一传动装置计算机(12)控制的一传动装置(3)，以及由一制动计算机(21)控制的一液压制动系统(15)，在所述方法中，该传动装置计算机(12)一检测到电制动力减少，就通知液压制动计算机(21)电制动力减少的数值。该制动计算机(21)也控制液压制动系统(15)，以便通过制动器(17)施加于车轮(2)的液压制动力可以补偿所述电制动力的减少。

Description

混合动力车辆电制动力补偿的制动方法
本发明涉及一种混合动力车辆的制动方法，在所述方法中，一再生制动力与一液压制动力均施加于车轮(2)。本发明特别用于确保车轮上制动力的连续，维持驾驶乐趣并保证车辆安全。
本发明特别适用于所述混合动力车辆，但是，也可以用于纯电动车辆。
在所述制动系统中，一再生制动力与一液压制动力均施加于车轮(2)是公知的。所述再生制动力，即电制动力，通过电机作用施加于车轮上，该电机作为发电机为与其连接的电池组充电。液压制动力借助一液压系统施加于车轮上，该液压系统使制动踏板支撑转换为能够驱动制动盘(或制动毂)抵靠车轮转动部件的制动力。
有两种再生制动，通过有关制动的欧洲法规加以区别。第一种是A类再生系统，其无需司机控制制动踏板即可实施制动力于车轮上。
第二种是B类再生系统，其通过制动踏板施加制动力。本发明涉及该类型的再生系统的有利应用。特别是，这些系统允许解除制动踏板上的作用，允许通过传统的液压制动系统施力。而且，提供了这样的可能性：控制配置由电传动装置实施的再生制动和由传统的液压制动系统实施的液压制动。
这种配置应该很容易实施，并自动根据电制动力的变化改变，以满足轻松驾驶的需要并符合关于该种装置的现行法律规定。
根据该法律规定，如果被施加的力的自身变化由一定量的适当变化自动补偿，B类再生电力制动系统可以单独作用，而且，当司机发出一个制动请求时，电机可能实施全部或部分力矩指令，作为与制动踏板支撑连接的传统液压制动的替代(或补充)。而且，被施加的电制动可以回收车辆的运动能并储存入电能储存系统，然后，最终减少消耗。
在该制动阶段，车辆减速也可能伴随着切断力的自动减速比的变化。当该比例改变后，电机和车轮之间的连接中断。
当该比例改变时，电制动力起初也被取消。因此，该电制动力应该由液压制动系统补偿，为了保持车辆总的制动力符合司机的请求并符合之前所述的法律规定。
采用类似的方法，在制动阶段，由于电传动装置的部件可能的缺陷、温度的限制或存储系统达到最大能量，被吸收的能量必然会发生变化。进一步，电的回收可能会被减少甚至被取消并且由液压系统来补偿。
本发明意在解决力的补偿问题，以便由电传动装置(以及力矩)提供的能量的固有变化明显的延续以满足司机的制动请求并符合法律的规定。
为此，在本发明中，力的补偿借助传动装置计算机和液压系统计算机之间的通讯实现，该传动装置计算机通过电机和/或热电机控制施加于车轮上的力，液压系统计算机自动启动液压制动以便使得制动符合司机的要求。
更精确地说，当电存储系统达到其最大存储容量时或提前几秒钟，存储系统通知传动装置计算机该存储系统将达到最大容量。
当电机检测到这些部件之一的缺陷或达到最大热量的限制，该电机通知该缺陷部件(所在)的传动装置计算机所述部件缺陷或所述热量限制。
当自动变速箱预测到速度变化时，该变速箱通知所述速度变化对应的传动装置计算机在该时刻将发生什么，或者，优选地，提前几百毫秒通知。
该传动装置计算机也通知液压计算机，电的再生能力降低甚至被取消。传动计算机同样通知液压计算机电力减少的数值。
总之，为了满足司机的总的制动要求，液压计算机启动液压制动系统补偿电力的减少。
可以区别两种被限定的提前补偿方法，或非由于传动装置中电能的变化电力减少的补偿方法。
实际上，在部件缺陷或热限制的情形下，传动装置的所述部件没有被提前(通知)，力迅速补偿为了制动的减少与司机的请求相比尽可能弱尽可能短以保证安全。
作为回报，在由传动比改变切断力和达到存储系统最大能量形成的提前减少的情形下，补偿能够很容易由司机实施以便确保最大程度的舒适。
本发明涉及一种用于车辆尤其是用于混合动力车辆的制动方法，该车辆包括：
—一传动装置，该传动装置由一热电机、一电机
及一自动变速箱组成，该自动变速箱一方面用于切断被连接至电机的力，另一方面，切断被连接至车轮上的力，该传动装置由一传动计算机控制，
—一液压制动系统，该系统借助制动器施加一液压制动力于车轮，该液压制动系统由一制动计算机控制，且，
—一制动踏板，当该踏板动作时，在车轮上施加制动力，
特征在于其包括下列步骤：
—该制动踏板被驱动以便该电机施加一电制动力于车轮上，
—当变速箱预测到速度改变时，该变速箱通知所述速度改变的传动装置的所述计算机，
—该传动装置的所述计算机也通知该制动计算机在速度变化期间取消电动力，且
—该制动计算机控制该制动系统，以便补偿所述速度变化期间取消的所述电制动力，
—该变速箱提前几百毫秒通知所述速度变化的该传动装置的该计算机所述速度变化将出现，以便通过液压制动力补偿的力可以被逐渐施加。
结合说明书的随后的记述及相关附图，本发明将被更好地理解。这些附图不只是给出了阐明的主题，而且不限于本发明，附图所示为：
—附图1实施本发明的制动方式的混合动力车辆(1)
—附图2根据本发明所示，当变速比随着制动请求的改变，在所述时间内，电制动力和液压制动力随时间变化的过程。
更加精确地，车辆1包括一车轮2(出于简化考虑其他车轮未示出)，车轮2由传动装置3驱动并通过传输轴4与传动装置3连接。
传动装置3包括一热电机7、一电机8，二者之间通过一中间离合器(未示出)连接，另外，传动装置3包括一自动变速箱9，该变速箱一方面切断与电机8连接的力，另一方面切断与通过周4连接的车轮2的力。
电机8同样被连接至电池组或高能电池的电能存储系统10。该电机8以电机模式运行并从存储系统10获取能量时传递电机的力至车轮2。作为回报，当该电机作为发动机运行，存储电能至存储系统10且其轴有车轮2驱动，时，该电机8发出再生制动力。特别是在车辆减速或制动时会出现充电阶段。
传动装置计算机12通过传动装置3控制施加于车轮2的力。为此，该计算机12通过连接总线11被连接至控制单元8.1、9.1、10.1，它们分别连接至所述电机8、变速箱9及存储系统10.该计算机12也可以传递指令至部件8-10的控制单元，并在传动装置3的部件8-10运行状态接受这些控制单元的信息。
另外，该车辆1还包括由附图中封闭的不连续线段限定的一液压制动系统15，该系统15包括一可操作的致动系统，由司机通过制动踏板20控制或通过连线16.1连接至系统16的制动计算机21自动控制。该系统16传递在液压的作用下产生的机械力。为此，该系统16包括一主风缸和一辅助制动装置通过负压放大司机在制动踏板上施加的力。
该系统16被连接至一液压模块18.该模块18通过中间管道网19被连接至车轮制动器。液压模块可以发出由车辆制动器之间的该系统16产生的液压。为此，被连接至该系统的所述计算机21计算施加于车轮2上的压力值。该压力值取决于车辆所处的情形，特别是制动时车轮的速度。
一制动装置或制动器17被连接至车轮2，其借助模块18传递施加于其上的液压力致动制动盘17.1以抵制盘17.2随着车轮2转动。而且，通过控制踏板20产生的机械力或者由计算机21自动产生的力，该力通过系统16以液压方式被传递。该压力传递至所述液压模块18，液压模块重新产生该力至各制动器。并且，这些制动器17施加机械制动力即液压制动力于车轮。
踏板上的传感器22与制动计算机21连接。该传感器发出与司机期望的制动力信号Ccon相关的一个信号Scon。该传感器可以了解每一瞬间司机的制动需求。
计算机12和21通过连线13彼此连接以便交换施加于车轮的液压或电动制动力的信息。
在初始运行情形下，司机操作制动踏板20，为了电机8在发动机模式下运行，施加电制动力于车轮。另外，传输比通过自动变速箱9固定，液压制动系统部分运行或全部不运行。
从此，形成可控的再生制动能量的改变。所述可控能量改变尤其可能在附图所述的三种情形出现。
在附图中的第一种情形中，连接至村纯系统10的控制单元10.1检测到电能存储系统达到最大值或将要达到最大值。控制单元10.1经由通讯总线11发出信号Sc至目标传动装置计算机12。使用时，信号Sc在系统达到最大存储能量之前被提前2-3秒发出。该计算器12也接受信号Sc并经由总线13发出信号Sc′至液压计算机21。由于达到或将要达到系统的最大存储能力，该信号Sc′与电力减少相关。该信号Sc′包括当达到系统最大存储能力时电制动力数值的减少。
该计算机21接受信号Sc′并发出信号Si1控制系统16，以便液压制动力补偿电制动力的减少，是的总的制动力符合司机的要求。
该系统16被控制以便由液压制动力补偿电制动力很容易由司机控制，以保证最大程度的舒适。为此，力被逐渐补偿。通过与达到存储系统10最大存储能力相关的信息被提前传递至液压制动系统，这样的控制可能被实现。
在附图中的第二种情形中，当自动变速箱预测到速度改变，连接至变速箱的控制单元9.1通过通讯总线11发出信号Sv至目标计算机21。使用时，该信号Sv在速度没有真正改变之前100-200毫秒被提前发出。
该计算机12也接受该信号Sv，并通过连接线13发出信号Sv′至液压计算机21。该信号Sv′与此相关：在速度改变期间，电制动力将被取消。该信号Sv′也包括速度改变的期限。
该计算机21接受信号Sv′并发出控制信号Si2至致动系统16。该信号Si2控制系统16，以便在速度改变期间，液压制动力补偿电制动力，使得总的制动力符合司机的要求。
自此，系统16被控制，以便电力由液压制动力补偿很容易被司机操作，以确保最大程度的舒适。为此，力被逐渐补偿。通过与速度改变相关的信息被提前传递至液压制动系统，这样的控制可能被实现。
在附图中的第三种情形中，当电机8检测到一些部件的缺陷或达到运行温度限制，控制单元8.1通过通讯总线11发出信号Sd至计算机12。
该计算机12接受信号Sd并经由总线13发出信号Sd′至计算机21。该信号Sd′与由于缺陷或电机8过热导致的电力减少相关。该信号Sd′包括电力减少的数值及过热情形下力的减少的期间，以便使得电机8的温度下降至低于限制值。
该计算机21接受信号Sd′并发出控制信号Si3至系统16。该信号Si3控制系统16，以便液压制动力补偿电制动力的减少，使得总的制动力符合司机的要求。
在这种情形中，力的减少没有被提前，系统16被控制为了与司机的要求相比制动减少尽可能弱且尽可能短以确保安全。为此，力被逐渐补偿。该液压制动力为阶梯形。
作为变化，传动装置计算机12不传递电力的减少的数值至制动计算机21。在这种情形下，该制动计算机21计算司机期望值Ccon与实际施加至车轮的力的差值。该计算机21也控制液压系统16，以便该系统16施加液压制动力至具有力的差值的车轮。
附图2所示为随着司机指令CF的制动力数值当比例改变被实施时，由制动系统15施加的液压制动力CHYDR、由电机8施加的电制动力CMEL、热机7的力CMTH、离合器的力CEMB、初始轴上的可观察到的力CAP随时间变化的图。
在第一阶段P1，司机从加速踏板上抬脚，没有支撑在制动踏板20上。传动装置出于再生模式，电机8作为发动机运行。电制动力CMEL低于电机8上的可控的最大值CMELmax。
在第二阶段P2，司机使A压在制动踏板20上以便加入制动指令CF。电制动力CMEL增加23直至电机8的最大值CMELmax。液压制动CHYDR补偿由电机8施加的制动力CMEL，以便电制动力的总量与液压制动力的总量之和等于司机要求的制动力CF(CMEL+CHYDR＝CF)。
在第三阶段P3，比值B的改变被要求。初始轴的力(等于发动机的力CMTH和电机施加的力CMEL)也减少直至被取消为了能够重新回复到变速箱的初始比值。减少直至为零的力CAP被逐渐实施。液压制动力CHYDR增加以便补偿电制动力CMEL部分，该部分在第二阶段P2已被增加。因此，制动踏板20要求的制动力CF总是被满足。
在第四阶段P4，由变速箱传递的力为零(CMEL和CMTH都是零)以便比例的改变很容易被实现，以达到目标比例。
在第五阶段P5，力的差值逐渐增加以便回到P2阶段的位置，特别是，液压制动力CHYDR随着电制动力CMEL的增加而逐渐减少。
在第六阶段P6，力的差值重新恢复到第二阶段P2的数值。

Claims (5)

1.一种用于车辆(1)尤其是用于混合动力车辆的制动方法，该车辆(1)包括：
—一传动装置(3)，该传动装置由一热电机(7)、一电机(8)及一自动变速箱(9)组成，该自动变速箱(9)一方面用于切断被连接至电机(8)的力，另一方面，切断被连接至车轮(2)上的力，该传动装置(3)由一传动计算机(12)控制，
—一液压制动系统(15)，该系统借助制动器(17)施加一液压制动力于车轮(2)，该液压制动系统(15)由一制动计算机(21)控制，且，
—一制动踏板(20)，当该踏板动作时，在车轮上施加制动力，
特征在于其包括下列步骤：
—该制动踏板(20)被驱动以便该电机(8)施加一电制动力于车轮(2)上，
—当变速箱预测到速度改变时，该变速箱(9)通知所述速度改变的传动装置的所述计算机(12)，
—该传动装置的所述计算机(12)也通知该制动计算机(21)在速度变化期间取消电动力，且
—该制动计算机(21)控制该制动系统(15)，以便补偿所述速度变化期间取消的所述电制动力，
—该变速箱(9)提前几百毫秒通知所述速度变化的该传动装置的该计算机(12)所述速度变化将出现，以便通过液压制动力补偿的力可以被逐渐施加。
2.根据权利要求1所述的方法，其特征在于：该电机(8)连接至电存储系统(10)，其包括以下步骤：
-当该存储系统(10)达到其最大容量时，该存储系统(10)通知该牵引计算机(12)该存储系统(10)已达到最大容量，
-该牵引装置的计算机(12)也通知制动计算机(21)当该存储系统(10)达到最大容量时，电制动力数值减少，
-该制动计算机(21)控制所述制动系统(15)以便补偿所述电制动力的减少。
3.根据权利要求2所述的方法，其特征在于：存储系统(15)提前几秒钟通知该牵引计算机(12)其存储系统将达到最大容量。
4.根据权利要求1-3之一所述的方法，其特征在于：
-当电机(8)检测到某些速度之一减少或达到运行的限制温度时，该电机(8)通知牵引装置的计算机(12)所述速度的减少或达到运行的限制温度，
-该牵引装置的计算机(12)也通知制动计算机(21)由于所述速度的减少或达到运行的限制温度，电制动力数值减少，且，
-该制动计算机(21)控制所述制动系统(15)以便补偿所述电制动力的减少。
5.包括权利要求4所述的方法，其特征在于：施加于车轮的、用于所述电制动补偿的液压制动力为阶梯状。
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US20100280695A1 (en) 2010-11-04
EP2222525B1 (fr) 2011-07-20
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ATE517005T1 (de) 2011-08-15
JP5372010B2 (ja) 2013-12-18
US8311692B2 (en) 2012-11-13

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