CN110979017A - NBS-based braking energy recovery system and method for electric automobile - Google Patents
NBS-based braking energy recovery system and method for electric automobile Download PDFInfo
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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
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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
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Abstract
The invention discloses a braking energy recovery system and method of an electric automobile based on NBS, and belongs to the technical field of electric automobiles. The recovery system includes: the system comprises an information acquisition system, a control system and an execution mechanism, wherein the control system is respectively in communication connection with the information acquisition system and the execution mechanism, and the execution mechanism comprises a vehicle control unit, a motor system and a battery pack; the information acquisition system comprises a brake pedal switch sensor, a brake stroke opening sensor and a vehicle body stabilizing system, the control system comprises an electric control booster with a brake master cylinder assembly, and the executing mechanism comprises a vehicle control unit, a motor system and a battery pack. The recovery method is realized based on a recovery system. The invention can execute pure electric energy recovery braking to the maximum extent on the premise of ensuring and meeting the stability and safety of the vehicle and the braking requirement of a driver, and has better braking comfort and higher energy recovery efficiency.
Description
Technical Field
The invention particularly relates to a braking energy recovery system and method of an electric automobile based on NBS (master cylinder assembly), and belongs to the technical field of electric automobiles.
Background
With the development of the automobile industry and the increasing of the living standard of residents, automobiles become one of the inevitable choices for the family outages. Nowadays, the total holding capacity of automobiles reaches a considerable amount, the huge amount of fuel consumed every day and the pollution to the environment are also valued by people, more and more people pay more attention to new energy technology, and more people tend to buy new energy automobiles.
In the driving process of the automobile, due to various complex road working conditions and different driving situations, the braking loss in the total driving energy of the automobile can reach 40% -60%, if the automobile can be braked and decelerated through braking, the energy is recovered in a braking energy regeneration mode, meanwhile, the pure electric braking effect is achieved, and the endurance mileage can be increased by 10% -30%. 1) The braking energy recovery is one of effective means for realizing energy conservation and emission reduction of the new energy automobile, and the kinetic energy of the braking loss of the automobile is converted into electric energy for reutilization by utilizing the regenerative braking function of the motor, so that the energy consumption of the automobile can be reduced, and the driving range can be prolonged. The braking energy recovery of the electric automobile is mostly realized based on a traditional pedal non-decoupling braking system, namely parallel braking energy recovery, and motor feedback braking force is directly superposed on hydraulic braking force.
Disclosure of Invention
Therefore, aiming at the defects in the prior art, the invention provides the braking energy recovery system and method based on the NBS for the electric automobile, which can improve the energy recovery efficiency and be better applied to the electric automobile while ensuring the whole braking comfort.
The specific technical scheme is as follows:
an NBS-based braking energy recovery system for an electric vehicle, the braking energy recovery system comprising: the system comprises an information acquisition system, a control system and an execution mechanism, wherein the control system is respectively in communication connection with the information acquisition system and the execution mechanism, and the execution mechanism comprises a vehicle control unit, a motor system and a battery pack;
the information acquisition system comprises a brake pedal switch sensor, a brake travel opening sensor and a vehicle body stabilizing system, wherein the brake pedal switch sensor and the brake travel opening sensor are used for acquiring the specific brake requirement of a driver and sending the brake requirement information to the control system; the vehicle body stabilizing system is used for judging according to the stable state of the vehicle in the running process and sending a braking energy recovery permission signal to the control system;
the control system comprises an electric control booster with a brake master cylinder assembly, and the electric control booster with the brake master cylinder assembly is used for analyzing a brake demand signal received from a sensor and a signal received from a vehicle body stabilizing system, calculating a required pure braking energy request value and sending the pure braking energy request value to the vehicle control unit;
the executing mechanism comprises a vehicle control unit, a motor system and a battery pack, wherein the vehicle control unit is used for analyzing the vehicle state and judging the energy recovery condition, the motor system is used for executing energy recovery torque and converting the mechanical energy of the vehicle into electric energy, and the battery pack is used for storing the electric energy generated by energy recovery.
Furthermore, the motor system in the actuating mechanism comprises a motor controller and a driving motor, and after the motor controller receives a torque request sent by the vehicle control unit, the driving motor rotates reversely and transmits the recovered energy to the battery pack.
Furthermore, a brake pedal switch sensor and a brake stroke opening sensor in the information acquisition system are arranged on a vehicle body brake pedal or integrated in an electric control booster with a brake master cylinder assembly.
On the other hand, the invention also provides a braking energy recovery method of the electric automobile based on the NBS, and the method specifically comprises the following steps:
the information acquisition system acquires the stable state of the vehicle body and the braking demand information of a driver; the control system calculates and sends braking energy recovery torque request information to the vehicle control unit according to the received vehicle body stable state information and the driver braking demand information; the vehicle controller sends torque request information to the motor controller to execute energy recovery according to the vehicle state, and simultaneously feeds back a vehicle energy recovery capacity value and an actual energy recovery torque value to the control system to determine the braking energy recovery capacity at the next moment; after receiving a torque request of the vehicle control unit, the motor controller drives the motor to execute negative torque to convert mechanical energy of the vehicle into electric energy and transmit the electric energy to the battery pack; the battery pack stores electric energy generated by the motor.
Further, the method further comprises:
if the vehicle body is unstable in the braking energy recovery process, the vehicle body stabilizing system sends a torque reduction request to the vehicle control unit, the vehicle control unit controls the motor torque request, controls the pure electric braking force and rejects a braking request signal of the electric control booster with the brake master cylinder assembly.
Further, the method further comprises:
the control system calculates a current required braking energy recovery request value according to the received vehicle body state information and the driver braking request information, and sends an energy recovery torque signal and a recovery torque request state signal to the vehicle control unit, and the vehicle control unit feeds back a vehicle energy recovery capacity value and an actual energy recovery value to the control system.
Further, the method further comprises:
when the vehicle body state information sent by the vehicle body stabilizing system indicates that the vehicle is in a stable driving state, the control system refers to the gradient and the efficiency of energy recovery intervention and exit, ensures the transition processing between the braking torque request and other torque sources, the other torque sources comprise a sliding recovery torque and a braking recovery torque, and when the transition from the other torque sources to the braking recovery, the whole vehicle controller takes the larger one of the braking torque request sent by the control system and the other torque sources to execute;
when the vehicle body state information sent by the vehicle body stabilizing system indicates that the vehicle is in an unstable state, the control system reduces the torque recovery request with a certain gradient, the whole vehicle controller quits energy recovery according to the same gradient, and meanwhile, the control system increases the hydraulic torque with the same gradient.
Further, the method further comprises:
when the recovery torque request state sent by the control system is normal, the vehicle control unit responds to the received energy recovery torque request signal and sends an actual recovery torque signal to the motor system for torque switching; and when the recovery torque request status bit sent by the control system is invalid, the vehicle control unit does not respond to the received energy recovery torque request signal.
And the control system controls the exit vehicle speed and curve of the recovered braking energy and keeps consistent with the vehicle speed requested by other torque sources after the vehicle controller exits.
Further, the method further comprises:
after receiving the torque request of the vehicle control unit, the motor system controls the motor to execute negative torque, and mechanical energy of the vehicle is converted into electric energy through electromagnetic effect and transmitted to the battery pack for storage.
Further, the method further comprises:
when the energy recovery of the whole vehicle controller is forbidden or the energy recovery is quitted due to the fact that the gear is switched to the N gear, the energy recovery capacity value of the whole vehicle controller is set to be zero after the energy recovery is forbidden or the energy recovery is quitted, and the control system judges that the maximum energy recovery degree which can be currently carried out is zero according to the energy recovery capacity value of the whole vehicle, namely the braking energy recovery cannot be carried out in the current vehicle state;
the gear switching is carried out by a user in the braking process, the gear D is switched into other gears, and the range of the energy recovery capacity of the whole vehicle, which is sent by the whole vehicle controller, is from a calibration value to 0; when other gears are switched to the D gear, the control system identifies the current working condition, and does not carry out a recovery request in the braking process;
when the accelerator pedal is released, the vehicle control unit switches the positive torque request from a calibration value to 0, and after the actual motor torque of the motor system is reduced to a negative value, the vehicle control unit starts to respond to the energy recovery torque request value of the control system to carry out coordination processing, so that the braking energy recovery is realized.
The invention has the beneficial effects that: compared with the prior art, the NBS-based braking energy recovery system for the electric automobile has the following advantages:
the invention can execute pure electric energy recovery braking to the maximum extent on the premise of ensuring and meeting the stability and safety of the vehicle and the braking requirement of a driver, and has better braking comfort and higher energy recovery efficiency.
Drawings
FIG. 1 is a schematic diagram of a braking energy recovery system of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided with reference to the accompanying drawings:
as shown in fig. 1, the braking energy recovery system provided in the embodiment of the present invention includes a signal acquisition system 10, a control system 20, and an execution mechanism 30, where the signal acquisition system 10 is responsible for acquiring a braking pedal signal, the control system 20 is responsible for determining whether braking energy recovery can be performed and analyzing a specific braking energy recovery capability value, and the execution mechanism 30 is responsible for executing an energy recovery process according to an energy recovery request and storing recovered energy. The information acquisition system 10 includes an Electronic Stability Program (ESP) 11, a brake pedal switch sensor 12, a brake pedal stroke sensor 13, and an actuator 30 including a Vehicle Control Unit, a VCU (Vehicle Control Unit) 31, a motor system (including a motor controller MotorControl Unit, an MCU, and a motor) 32, and a Battery pack (including a Battery pack management system, a BMS, and a power Battery pack).
The information collecting system 10 is configured to collect vehicle body state information and driver braking demand information, and send the collected information to the control system 20.
In specific implementation, the brake pedal switch sensor 12 and the brake pedal travel opening sensor 13 may be disposed on the brake pedal, or may be integrated in the electric control booster with the brake master cylinder assembly.
The control system 20 calculates a current required braking energy recovery request value according to the received vehicle body state information and the driver braking request information, and sends an energy recovery torque signal and a recovery torque request state signal to the vehicle control unit 31, and the vehicle control unit 31 feeds back a vehicle energy recovery capability value and an actual energy recovery value to the control system 20, so as to ensure that energy recovery is performed within a maximum range allowed by the vehicle.
When the vehicle body state information sent by the vehicle body stabilizing system 11 indicates that the vehicle is in a stable driving state, the control system 20 needs to consider the gradient and efficiency of energy recovery intervention and exit, and ensure transition processing between other torque sources such as the coasting recovery torque and the braking recovery torque. When transitioning from the other torque sources to braking recovery, the hybrid controller 31 takes the greater of the braking torque request and the other torque sources from the control system 20.
When the vehicle body state information sent by the vehicle body stabilizing system 11 indicates that the vehicle is in a destabilizing state, the control system 20 reduces the recovery torque request with a certain gradient, the vehicle control unit 31 quits energy recovery according to the same gradient, and simultaneously the control system 20 increases the hydraulic torque with the same gradient to ensure that the vehicle body stability and the braking requirements of the user are met at the same time.
When the recovery torque request status sent by the control system 20 is normal, the vehicle control unit 31 responds to the received energy recovery torque request signal and sends an actual recovery torque signal to the motor system 32 for torque switching; when the recovered torque request status bit sent by the control system 20 is invalid, the vehicle controller 31 does not respond to the received energy recovered torque request signal.
The control system 20 needs to control the exit vehicle speed and the exit curve of the braking energy recovery, and the vehicle speed requested by the vehicle control unit 31 to exit from other torque sources is consistent, and the specific exit curve is based on the actual vehicle and is not described herein too much.
After receiving the torque request of the vehicle controller 31, the motor system 32 controls the motor to execute negative torque, and converts mechanical energy of the vehicle into electric energy through electromagnetic effect and transmits the electric energy to the battery pack 33 for storage.
During the process of executing energy recovery, the following specific working conditions are supplemented:
when the energy recovery of the vehicle controller 31 is prohibited or the vehicle controller 31 is quitted due to the fact that a user switches the gear to the N gear or other conditions, the vehicle controller 31 sets the energy recovery capacity value of the vehicle to 0Nm after the energy recovery is prohibited or the vehicle controller quits the energy recovery, and the control system 20 judges that the maximum energy recovery degree which can be currently carried out is 0Nm according to the energy recovery capacity value of the vehicle, namely the current vehicle state cannot carry out the braking energy recovery;
in the braking process, a user switches gears, for example, the gear D is switched to another gear, and in order to ensure the smoothness of the whole vehicle, the whole vehicle energy recovery capability value sent by the whole vehicle controller 31 needs Ramp (calibration value) to be 0; when the other gear is shifted to the D gear, the control system 20 needs to recognize the operating condition, and the recovery request is not performed during the braking process.
In order to ensure the rapidity and effectiveness of braking energy recovery, when an accelerator pedal is released, the vehicle controller 31 needs to immediately request the positive torque Ramp to 0Nm, and the actual torque deceleration of the motor system 32 is recommended to reach at least more than 300Nm/s by relevant documents, so that the energy recovery rate and the vehicle are ensured to be free of shaking. Meanwhile, after the actual motor torque of the motor system 32 decreases to a negative value, the vehicle control unit 31 starts the coordination process in response to the energy recovery torque request value of the control system 20.
Through such a set of braking energy recovery system, on the premise of guaranteeing vehicle driving stability and braking safety, the braking energy of the vehicle can be effectively recovered and can be fed back to the vehicle, the effects of saving energy and improving vehicle endurance capacity are achieved, the control system 20 is the core of the whole system, a serial-type braking energy recovery mode is adopted, the braking intention of a driver is analyzed according to the opening degree of a brake pedal and the like, electric feedback braking and hydraulic braking are coordinated and distributed to the driver braking demand, and under the conditions of motor capacity, vehicle stability, system structure limitation and the like, the electric feedback braking is distributed to the driver to the greatest extent possible, the realization mode is good in braking comfort, and the energy recovery efficiency is high.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. An NBS-based braking energy recovery system for an electric vehicle, the braking energy recovery system comprising: the system comprises an information acquisition system, a control system and an execution mechanism, wherein the control system is respectively in communication connection with the information acquisition system and the execution mechanism, and the execution mechanism comprises a vehicle control unit, a motor system and a battery pack;
the information acquisition system comprises a brake pedal switch sensor, a brake travel opening sensor and a vehicle body stabilizing system, wherein the brake pedal switch sensor and the brake travel opening sensor are used for acquiring the specific brake requirement of a driver and sending the brake requirement information to the control system; the vehicle body stabilizing system is used for judging according to the stable state of the vehicle in the running process and sending a braking energy recovery permission signal to the control system;
the control system comprises an electric control booster with a brake master cylinder assembly, and the electric control booster with the brake master cylinder assembly is used for analyzing a brake demand signal received from a sensor and a signal received from a vehicle body stabilizing system, calculating a required pure braking energy request value and sending the pure braking energy request value to the vehicle control unit;
the executing mechanism comprises a vehicle control unit, a motor system and a battery pack, wherein the vehicle control unit is used for analyzing the vehicle state and judging the energy recovery condition, the motor system is used for executing energy recovery torque and converting the mechanical energy of the electric vehicle into electric energy, and the battery pack is used for storing the electric energy generated by energy recovery.
2. The NBS-based braking energy recovery system for electric vehicles according to claim 1, wherein the electric motor system of the actuator comprises a motor controller and a driving motor, and the motor controller, upon receiving a torque request from the vehicle controller, reverses the driving motor and transmits the recovered energy to the battery pack.
3. The NBS-based braking energy recovery system for electric vehicles of claim 1, wherein the information collection system comprises a brake pedal switch sensor, a brake stroke opening sensor arranged on a vehicle body brake pedal, or integrated in an electric control booster belt brake master cylinder assembly.
4. The braking energy recovery method of the electric automobile based on the NBS is characterized by comprising the following steps:
the information acquisition system acquires the stable state of the vehicle body and the braking demand information of a driver; the control system calculates and sends braking energy recovery torque request information to the vehicle control unit according to the received vehicle body stable state information and the driver braking demand information; the vehicle controller sends torque request information to the motor controller to execute energy recovery according to the vehicle state, and simultaneously feeds back a vehicle energy recovery capacity value and an actual energy recovery torque value to the control system to determine the braking energy recovery capacity at the next moment; after receiving a torque request of the vehicle control unit, the motor controller drives the motor to execute negative torque to convert mechanical energy of the vehicle into electric energy and transmit the electric energy to the battery pack; the battery pack stores electric energy generated by the motor.
5. The NBS-based braking energy recovery method for an electric vehicle of claim 4, further comprising:
if the vehicle body is unstable in the braking energy recovery process, the vehicle body stabilizing system sends a torque reduction request to the vehicle control unit, the vehicle control unit controls the motor torque request, controls the pure electric braking force and rejects a braking request signal of the electric control booster with the brake master cylinder assembly.
6. The NBS-based braking energy recovery method for an electric vehicle of claim 4, further comprising:
the control system calculates a current required braking energy recovery request value according to the received vehicle body state information and the driver braking request information, and sends an energy recovery torque signal and a recovery torque request state signal to the vehicle control unit, and the vehicle control unit feeds back a vehicle energy recovery capacity value and an actual energy recovery value to the control system.
7. The NBS-based braking energy recovery method for an electric vehicle of claim 4, further comprising:
when the vehicle body state information sent by the vehicle body stabilizing system indicates that the vehicle is in a stable driving state, the control system refers to the gradient and the efficiency of energy recovery intervention and exit, ensures the transition processing between the braking torque request and other torque sources, the other torque sources comprise a sliding recovery torque and a braking recovery torque, and when the transition from the other torque sources to the braking recovery, the whole vehicle controller takes the larger one of the braking torque request sent by the control system and the other torque sources to execute;
when the vehicle body state information sent by the vehicle body stabilizing system indicates that the vehicle is in an unstable state, the control system reduces the torque recovery request with a certain gradient, the whole vehicle controller quits energy recovery according to the same gradient, and meanwhile, the control system increases the hydraulic torque with the same gradient.
8. The NBS-based braking energy recovery method for an electric vehicle of claim 4, further comprising:
when the recovery torque request state sent by the control system is normal, the vehicle control unit responds to the received energy recovery torque request signal and sends an actual recovery torque signal to the motor system for torque switching; when the recovery torque request status bit sent by the control system is invalid, the vehicle control unit does not respond to the received energy recovery torque request signal;
and the control system controls the exit vehicle speed and curve of the recovered braking energy and keeps consistent with the vehicle speed requested by other torque sources after the vehicle controller exits.
9. The NBS-based braking energy recovery method for an electric vehicle of claim 4, further comprising:
after receiving the torque request of the vehicle control unit, the motor system controls the motor to execute negative torque, and mechanical energy of the vehicle is converted into electric energy through electromagnetic effect and transmitted to the battery pack for storage.
10. The NBS-based braking energy recovery method for an electric vehicle of claim 4, further comprising:
when the energy recovery of the whole vehicle controller is forbidden or the energy recovery is quitted due to the fact that the gear is switched to the N gear, the energy recovery capacity value of the whole vehicle controller is set to be zero after the energy recovery is forbidden or the energy recovery is quitted, and the control system judges that the maximum energy recovery degree which can be currently carried out is zero according to the energy recovery capacity value of the whole vehicle, namely the braking energy recovery cannot be carried out in the current vehicle state;
the gear switching is carried out by a user in the braking process, the gear D is switched into other gears, and the range of the energy recovery capacity of the whole vehicle, which is sent by the whole vehicle controller, is from a calibration value to 0; when other gears are switched to the D gear, the control system identifies the current working condition, and does not carry out a recovery request in the braking process;
when the accelerator pedal is released, the vehicle control unit switches the positive torque request from a calibration value to 0, and after the actual motor torque of the motor system is reduced to a negative value, the vehicle control unit starts to respond to the energy recovery torque request value of the control system to carry out coordination processing, so that the braking energy recovery is realized.
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| CN112248817A (en) * | 2020-10-30 | 2021-01-22 | 宝能(广州)汽车研究院有限公司 | Electric vehicle, energy recovery control system, stability control method, and medium therefor |
| CN113386769A (en) * | 2021-07-22 | 2021-09-14 | 蜂巢传动系统(江苏)有限公司保定研发分公司 | Energy recovery control method and device for hybrid electric vehicle and vehicle |
| CN113799614A (en) * | 2021-09-13 | 2021-12-17 | 的卢技术有限公司 | Braking energy recovery control method and system for four-wheel independent drive electric vehicle |
| WO2024021320A1 (en) * | 2022-07-25 | 2024-02-01 | 常州星宇车灯股份有限公司 | Electric vehicle driver-assistance energy-saving control system and control method |
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Application publication date: 20200410 |