CN102975702A - Tandem regenerative brake control method - Google Patents
Tandem regenerative brake control method Download PDFInfo
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- CN102975702A CN102975702A CN201210535260XA CN201210535260A CN102975702A CN 102975702 A CN102975702 A CN 102975702A CN 201210535260X A CN201210535260X A CN 201210535260XA CN 201210535260 A CN201210535260 A CN 201210535260A CN 102975702 A CN102975702 A CN 102975702A
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Abstract
The invention discloses a tandem regenerative brake control method. The method comprises the following steps of monitoring the intend of a driver and the state of a vehicle by a vehicle control unit VMS, and judging whether to enter a regenerative brake control mode or not; under a regenerative brake control mode, comprehensively considering the states of a battery and a motor by the vehicle control unit VMS, calculating the currently allowable maximal regenerative brake torque, and transmitting the maximal regenerative brake torque to a brake control unit (BCU); and monitoring the brake requirement of the driver by the brake control unit (BCU), in the range allowed by the vehicle control unit VMS, balancing the regenerative brake torque and the conventional hydraulic brake torque, and on the premise of meeting the brake requirement of the driver, preferentially feeding back the regenerative brake torque to optimally reclaim brake energy. The method can be widely applied to the field of regenerative brake control.
Description
Technical field
The present invention relates to a kind of battery-driven car regenerating brake control method, relate in particular to a kind of tandem regenerating brake control method.
Background technology
Along with the further aggravation of energy shock and ecological deterioration, the research and development of the new-energy automobile of energy-saving and environmental protection are subject to paying close attention to more widely.Compare with traditional fuel combustion vehicle, new-energy automobile partly or entirely adopts clean energy resource as power, has greatly reduced pollution and energy consumption.Battery-driven car is as the present new forms of energy research and development vehicle of main flow, how to improve energy utilization rate, improves continual mileage and become one of bottleneck of its development of restriction.Present solution mainly contains the breakthrough of battery technology and the research and development of brake energy recovering system, but for current electronics, the fast development of information techenology share, the High Performance storage battery is very slow as a global difficult problem progress, therefore the research and development of brake energy recovering system is just seemed particularly important in present stage.
At present the brake energy recovering system of main flow is divided into two kinds: a kind of is parallel, namely the conventional brake mode of former car is not done adjusting, and the electric regenerative braking power of a part directly is added on the former car braking force, reclaims with the braking energy of realizing part.Its control method is simple, but organic efficiency is not high; Another kind is tandem, namely coordinates former car conventional brake power and electric braking force, makes it to satisfy the braking requirement of chaufeur.This kind mode is compared parallel system, and control method is complicated, but organic efficiency is higher.
Summary of the invention
The purpose of this invention is to provide a kind of tandem regenerating brake control method, solve existing regenerating brake control method complex structure, the problem that conversion efficiency is low.
The technical solution adopted for the present invention to solve the technical problems is: a kind of tandem regenerating brake control method comprises step:
The intention of entire car controller VMS monitoring chaufeur and the state of car load judge whether to enter the regenerative brake master mode;
Judge that entire car controller VMS considers battery and motor status, calculates the maximum regeneration brake torque of current permission, and the maximum regeneration brake torque is sent to brak control unit BCU when allowing to enter regenerative brake;
The braking requirement of brak control unit BCU monitoring chaufeur, in the scope that entire car controller VMS allows, coordinate regenerative braking torque and conventional hydraulic braking moment of torsion, under the prerequisite that satisfies the chaufeur braking requirement, preferential feedback regenerative braking torque is realized the maximization that braking energy reclaims.
Described braking energy reclaims and is divided into two stages:
F/s: be release the gas pedal, but do not step on the unintended braking process in brake pedal stage,
Subordinate phase: for stepping on the forced brake process of brake pedal.
Unclamp when entire car controller VMS detects acceleration pedal, when brake pedal was not stepped on, the comprehensive car load information of entire car controller VMS judged whether to enter F/s; If conditions permit, then entire car controller VMS calculates regenerative braking torque according to speed information, sends requested torque to electric machine controller MCU; If condition does not allow, then entire car controller VMS request brake torque is 0, and car load enters the nature sliding state.
When detecting acceleration pedal, unclamps entire car controller VMS, when brake pedal is stepped on, the maximum regeneration brake torque that the comprehensive car load information calculations of entire car controller VMS car load allows, and sending it to brak control unit BCU, the signals such as slip rate of the advancing the speed of the regenerative braking torque restriction signal that brak control unit BCU allows according to brake pedal on-off signal, gear signal, entire car controller VMS, vehicle speed signal, master cylinder pressure, wheel judge whether vehicle allows to enter subordinate phase;
If allow, then brak control unit BCU in maximum regeneration brake torque scope, according to braking requirement, coordinated allocation hydraulic braking moment of torsion and regenerative braking torque; Otherwise vehicle enters conventional hydraulic braking state.
Described car load information comprises whether gear information, vehicle speed signal, battery coupled condition, battery SOC, motor status, ABS activate, the complete vehicle fault status information.
Described subordinate phase control step is as follows:
A. brak control unit BCU calculates the brake torque of chaufeur demand according to the pressure of wheel braking cylinder sensor of drive wheel;
B. brake torque and the maximum regeneration brake torque limit value of demand are made comparisons; When the brake torque of demand was less than or equal to maximum regeneration brake torque limit value, the regenerative braking torque of brak control unit BCU request equaled the brake torque of demand, and the hydraulic braking moment of torsion is 0; When the brake torque of demand during greater than maximum regeneration brake torque limit value, the regenerative braking torque of brake controller BCU request equals the maximum regeneration brake torque, and the brake torque that the hydraulic braking moment of torsion equals demand deducts the maximum regeneration brake torque.
C. brake controller BCU sends to entire car controller VMS with the regenerative braking torque that calculates, and control hydraulic efficiency governing module; Entire car controller VMS carries out fault detection and smoothing processing to the regenerative braking torque of brak control unit BCU request, and the value after will processing sends to electric machine controller MCU execution; Electric machine controller MCU control motor is carried out this regenerative braking torque, and the actual feedback moment of torsion of motor is fed back to brak control unit BCU by entire car controller VMS.
D. the in real time relatively brake torque of demand and the size of the actual feedback moment of torsion of motor of brak control unit BCU preferentially selects in the situation of regenerative brake auxiliary hydraulic pressure to brake.
Beneficial effect of the present invention: the present invention is by detection and the collection of entire car controller VMS to the car load signal, cooperating simultaneously brake controller BCU that car load is braked controls, taking into account under the prerequisite of brake pedal feel, the preferential regenerative braking torque of selecting, farthest utilize regenerative brake power, improve the organic efficiency of braking energy.
Below in conjunction with drawings and Examples, the present invention is described in further detail.
Description of drawings
Fig. 1 is each controller connection diagram of the present invention.
Fig. 2 is tandem regeneration brake system control flow chart.
Fig. 3 is subordinate phase regenerative brake implementation procedure.
The specific embodiment
Embodiment: as shown in Figure 1, BMS is battery management system among the figure, and MCU is electric machine controller, and VMS is entire car controller, and BCU is brake controller.The state that BMS Real Time Monitoring electrokinetic cell is current calculates the maximum charge and discharge electric current of its permission, guarantees the car load driving safety; The moment of torsion of VMS request is carried out in the running of MCU control motor, and feeds back the state of motor; VMS serves as a connection between BMS, MCU and BCU, and it is communicated by letter with three controllers by CAN bus (CAN_H, CAN_L), realizes information interaction.VMS is by gathering acceleration pedal position signal and brake pedal on-off signal, judge vehicle current be for driving condition or braking mode.When vehicle is in driving condition, send control command by VMS, the control vehicle operating.In case brake pedal moves, vehicle enters the forced brake state, and then BCU control is all transferred in instruction, and VMS is according to the maximum regeneration brake torque of the state computation current system permission of BMS and MCU, for brake safe is given security.BCU detects brake-pressure and wheel speed signal, in the scope that VMS allows, coordinated allocation motor braking and hydraulic braking, the action of respective electrical magnet valve in the control hydraulic efficiency governing module, by CAN the torque signal of request is issued VMS simultaneously, VMS asks corresponding moment of torsion to MCU after it is carried out fault detection and processing.
In vehicle traveling process, driving intention and the car load parts state of whole-control system VMS monitoring chaufeur judge whether current vehicle-state allows to enter the regenerative brake master mode.When allowing to enter regenerative brake, VMS considers battery and motor status, calculate the maximum regeneration brake torque Tq_regen_limit of current permission, and sending to brak control unit BCU by the CAN communication, the braking requirement of BCU monitoring chaufeur is in the scope that VMS allows, coordinate regenerative braking torque and conventional hydraulic braking moment of torsion, under the prerequisite that satisfies the chaufeur braking requirement, preferential feedback regenerative braking torque is realized the maximization that braking energy reclaims.
Patent of the present invention does not change former car brake-pedal travel, does not change former car front and back brakig force distribution curve.The process that braking energy is reclaimed is divided into two stages: F/s is release the gas pedal, but do not step on the unintended braking process in brake pedal stage, this stage, VMS played a leading role, apply regenerative braking torque under the condition that whole vehicle state allows, chaufeur unclamps the resisting moment of Das Gaspedal rear engine on the simulation traditional vehicle; Subordinate phase is to step on the forced brake process of brake pedal, and this stage B CU plays a leading role, and distribution obtains the subordinate phase regenerative braking torque according to pedal stroke by BCU.
As shown in Figure 2, in the driven process, VMS is according to acceleration pedal position signal, to MCU request driving torque.After the acceleration pedal aperture was lower than certain threshold value, VMS judged that acceleration pedal unclamps.After acceleration pedal unclamped, VMS judged according to the brake pedal on-off signal whether chaufeur steps on brake pedal.When this signal was False, brake pedal was not stepped on, VMS according to gear information, vehicle speed signal, battery coupled condition, battery SOC, motor status, ABS whether activate, the information such as complete vehicle fault state judges whether the car load condition allows to enter F/s.If conditions permit, then VMS calculates regenerative braking torque according to speed information, and after according to motor and battery status this moment of torsion being carried out safe limit, sends requested torque to MCU; If condition does not allow, then VMS request brake torque is 0, and car load enters the nature sliding state.When the brake pedal on-off signal is True, enter the chaufeur forced brake stage, BCU plays the control leading role.VMS according to gear information, vehicle speed signal, battery coupled condition, battery SOC, motor status, ABS whether activate, the information such as complete vehicle fault state judges whether the car load condition allows VMS to send the regenerative braking torque limit value.
If conditions permit, then VMS allows the maximum regeneration brake torque limit value Tq_regen_limit of the information calculations car loads permissions such as torque peak, battery SOC state, maximum charging voltage, maximum charging current according to working as front motor, and sends it to BCU.If condition does not allow, then to send to the torque limit of BCU be 0 to VMS.The signals such as slip rate of the advancing the speed of the regenerative braking torque restriction signal that BCU allows according to brake pedal on-off signal, gear signal, VMS, vehicle speed signal, master cylinder pressure, wheel judge whether vehicle allows to enter subordinate phase.If allow, then BCU in maximum regeneration brake torque limit value Tq_regen_limit scope, according to braking requirement, coordinated allocation hydraulic braking moment of torsion and regenerative braking torque; Otherwise vehicle enters the conventional brake state.
As shown in Figure 3, BCU at first calculates the brake torque Tq_total of chaufeur demand according to the pressure of wheel braking cylinder sensor of drive wheel, and the permission maximum regeneration brake torque limit value Tq_regen_limit that calculates with VMS makes comparisons.When Tq_total was less than or equal to Tq_regen_limit, the regenerative braking torque that vehicle allows can satisfy the braking requirement of chaufeur, the regenerative braking torque Tq_regen=Tq_total of BCU request this moment, hydraulic braking torque T q_hyd=0; As Tq_total during greater than Tq_regen_limit, show that regenerative brake can not satisfy the braking requirement of chaufeur, need the hydraulic efficiency governing module to replenish hydraulic braking, the regenerative braking torque Tq_regen=Tq_regen_limit of BCU request this moment, hydraulic braking torque T q_hyd=Tq_total-Tq_regen_limit.BCU sends to VMS with the Tq_regen that calculates, and control hydraulic efficiency governing module, and the hydraulic braking moment of torsion is controlled at Tq_hyd.VMS carries out fault detection and smoothing processing to the Tq_regen of BCU request, and the value Tq_regen_req after will processing sends to the MCU execution.MCU control motor is carried out this regenerative braking torque, and the actual feedback torque T of motor q_motor is fed back to BCU by VMS, and BCU compares Tq_total and size (Tq_motor+Tq_hyd) in real time.As Tq_total during greater than (Tq_motor+Tq_hyd), illustrative system applies the braking force deficiency, and BCU control hydraulic efficiency governing module continues hydraulic efficiency pressure system is carried out supercharging, makes hydraulic braking torque T q_hyd increase (Tq_total-Tq_motor-Tq_hyd); When Tq_total equaled (Tq_motor+Tq_hyd), system applied braking force and just satisfies braking requirement, and BCU control hydraulic efficiency governing module is carried out pressurize to hydraulic efficiency pressure system; As Tq_total during less than (Tq_motor+Tq_hyd), it is excessive that illustrative system applies braking force, and BCU control hydraulic efficiency governing module reduces pressure to hydraulic efficiency pressure system, makes hydraulic braking torque T q_hyd reduce (Tq_motor+Tq_hyd-Tq_total).By above control process, BCU and VMS coordinate hydraulic braking and regenerative brake jointly, when guaranteeing brake safe and taking into account pedal sense, have reclaimed to greatest extent braking energy, have good driver comfort and economy.
Claims (6)
1. tandem regenerating brake control method comprises step:
The intention of entire car controller VMS monitoring chaufeur and the state of car load judge whether to enter the regenerative brake master mode;
Judge that entire car controller VMS considers battery and motor status, calculates the maximum regeneration brake torque of current permission, and the maximum regeneration brake torque is sent to brak control unit BCU when allowing to enter regenerative brake;
The braking requirement of brak control unit BCU monitoring chaufeur, in the scope that entire car controller VMS allows, coordinate regenerative braking torque and conventional hydraulic braking moment of torsion, under the prerequisite that satisfies the chaufeur braking requirement, preferential feedback regenerative braking torque is realized the maximization that braking energy reclaims.
2. tandem regenerating brake control method as claimed in claim 1 is characterized in that: described braking energy reclaims and is divided into two stages:
F/s: be release the gas pedal, but do not step on the unintended braking process in brake pedal stage,
Subordinate phase: for stepping on the forced brake process of brake pedal.
3. tandem regenerating brake control method as claimed in claim 2, it is characterized in that: unclamp when entire car controller VMS detects acceleration pedal, when brake pedal was not stepped on, the comprehensive car load information of entire car controller VMS judged whether to enter F/s; If conditions permit, then entire car controller VMS calculates regenerative braking torque according to speed information, sends requested torque to electric machine controller MCU; If condition does not allow, then entire car controller VMS request brake torque is 0, and car load enters the nature sliding state.
4. tandem regenerating brake control method as claimed in claim 2, it is characterized in that: unclamp when entire car controller VMS detects acceleration pedal, when brake pedal is stepped on, the maximum regeneration brake torque that the comprehensive car load information calculations of entire car controller VMS car load allows, and sending it to brak control unit BCU, brak control unit BCU is according to the brake pedal on-off signal, gear signal, the regenerative braking torque restriction signal that entire car controller VMS allows, vehicle speed signal, advancing the speed of master cylinder pressure, the signals such as the slip rate of wheel judge whether vehicle allows to enter subordinate phase;
If allow, then brak control unit BCU in maximum regeneration brake torque scope, according to braking requirement, coordinated allocation hydraulic braking moment of torsion and regenerative braking torque; Otherwise vehicle enters conventional hydraulic braking state.
5. such as claim 3 or 4 described tandem regenerating brake control methods, it is characterized in that: described car load information comprises whether gear information, vehicle speed signal, battery coupled condition, battery SOC, motor status, ABS activate, the complete vehicle fault status information.
6. such as the described tandem regenerating brake control method of claim 2 to 4 any one, it is characterized in that: described subordinate phase control step is as follows:
A. brak control unit BCU calculates the brake torque of chaufeur demand according to the pressure of wheel braking cylinder sensor of drive wheel;
B. brake torque and the maximum regeneration brake torque limit value of demand are made comparisons; When the brake torque of demand was less than or equal to maximum regeneration brake torque limit value, the regenerative braking torque of brak control unit BCU request equaled the brake torque of demand, and the hydraulic braking moment of torsion is 0; When the brake torque of demand during greater than maximum regeneration brake torque limit value, the regenerative braking torque of brake controller BCU request equals the maximum regeneration brake torque, and the brake torque that the hydraulic braking moment of torsion equals demand deducts the maximum regeneration brake torque.
C. brake controller BCU sends to entire car controller VMS with the regenerative braking torque that calculates, and control hydraulic efficiency governing module; Entire car controller VMS carries out fault detection and smoothing processing to the regenerative braking torque of brak control unit BCU request, and the value after will processing sends to electric machine controller MCU execution; Electric machine controller MCU control motor is carried out this regenerative braking torque, and the actual feedback moment of torsion of motor is fed back to brak control unit BCU by entire car controller VMS.
D. the in real time relatively brake torque of demand and the size of the actual feedback moment of torsion of motor of brak control unit BCU preferentially selects in the situation of regenerative brake auxiliary hydraulic pressure to brake.
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