CN117341645A - Composite braking hysteresis compensation method of range-extended electric drive axle semitrailer - Google Patents
Composite braking hysteresis compensation method of range-extended electric drive axle semitrailer Download PDFInfo
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- 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
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- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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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
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
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Abstract
Description
技术领域Technical field
本发明属于混合动力车辆控制领域,特别涉及一种增程式电驱桥半挂车复合制动迟滞补偿方法。The invention belongs to the field of hybrid vehicle control, and particularly relates to a composite braking hysteresis compensation method for an extended-range electric drive axle semi-trailer.
背景技术Background technique
随着中国经济的快速增长,矿业、基础设施和物流等行业的迅猛发展,使得作为生产资料的半挂牵引车不可或缺,需求量也在不断增加。然而,由于半挂汽车车身较长,导致半挂车气压制动系统的气路过长,在复合制动时会产生明显的制动迟滞,同时,由于再生制动退出工作时,伴有过渡性制动转矩不足的现象,进而可能导致制动距离增加、制动失稳等危险。半挂车制动迟滞补偿问题已引起越来越多的关注和重视。减少制动迟滞效应,提升车辆制动安全性能已成为迫在眉睫的问题。With the rapid growth of China's economy and the rapid development of mining, infrastructure, logistics and other industries, semi-trailer tractors, as a means of production, are indispensable, and the demand is also increasing. However, due to the long body of the semi-trailer, the air path of the semi-trailer's air pressure braking system is too long, which will produce obvious braking lag during compound braking. At the same time, when regenerative braking stops working, there will be transitional braking. The phenomenon of insufficient dynamic torque may lead to dangers such as increased braking distance and unstable braking. The problem of semi-trailer brake hysteresis compensation has attracted more and more attention and attention. It has become an urgent issue to reduce the braking hysteresis effect and improve vehicle braking safety performance.
目前,复合制动系统再生制动系统(RBS)与传统摩擦制动系统(FBS)相结合,通常用于电动汽车,以回收制动能量并确保制动可靠性。已知有专利文献中公开了如下技术:在基于制动器踏板操作量或油门踏板操作量而计算出的车辆的目标行为与由G传感器检测出的减速度之差超过预定范围的情况下检测出再生制动异常时,以直到相对于车辆电切断电动发电机为止的期间,一直对因异常的再生制动而降低的扭矩进行补偿而使其成为目标行为的方式,对除再生制动以外的正常的摩擦制动器、发动机、变速器分配作为车辆整体产生的扭矩。Currently, the hybrid braking system Regenerative Braking System (RBS) is combined with the traditional Friction Braking System (FBS) and is usually used in electric vehicles to recover braking energy and ensure braking reliability. Patent documents are known to disclose technology that detects regeneration when the difference between the target behavior of the vehicle calculated based on the brake pedal operation amount or the accelerator pedal operation amount and the deceleration detected by the G sensor exceeds a predetermined range. When braking is abnormal, the torque reduced by the abnormal regenerative braking is compensated for the target behavior until the motor generator is electrically cut off from the vehicle, except for regenerative braking. The friction of the brakes, engine, and transmission distributes the torque generated by the vehicle as a whole.
发明内容Contents of the invention
为解决现有技术存在的不足,本发明一种增程式电驱桥半挂车的复合制动迟滞补偿方法。其特征在于:In order to solve the shortcomings of the existing technology, the present invention provides a composite braking hysteresis compensation method for an extended-range electric axle semi-trailer. Its characteristics are:
挂车上的集成式电驱桥,在再生制动与气制动相结合的复合制动模式下,通过电机补偿转矩和气动补偿转矩,补偿制动转矩不足的情况;The integrated electric drive axle on the trailer, in the compound braking mode that combines regenerative braking and pneumatic braking, uses motor compensation torque and pneumatic compensation torque to compensate for insufficient braking torque;
步骤1:当驾驶员根据实时路况,做出制动选择时,根据制动踏板位置变化率、制动踏板位置、电池的SOC状态、车速等信息计算总需求制动转矩和进行制动力分配等;Step 1: When the driver makes a braking choice based on real-time road conditions, the total required braking torque and braking force distribution are calculated based on the brake pedal position change rate, brake pedal position, battery SOC status, vehicle speed and other information. wait;
该再生制动控制策略的核心是电制动力的需求和总制动力控制策略,总需求制动力矩由制动踏板和车辆制动系参数决定,即由制动强度需求决定总制动力矩,其中,制动踏板位置由制动工况决定,车速和电池为车辆模型实时计算值,汽车的制动系统接收并传递驾驶员的制动意图,并作出反应产生相应的制动强度,计算出车辆所需要的制动力;The core of this regenerative braking control strategy is the electric braking force demand and the total braking force control strategy. The total braking torque demand is determined by the brake pedal and vehicle braking system parameters, that is, the total braking torque is determined by the braking intensity demand. Among them, the brake pedal position is determined by the braking conditions, the vehicle speed and battery are calculated in real time by the vehicle model. The car's braking system receives and transmits the driver's braking intention, and reacts to generate the corresponding braking intensity, and calculates The braking force required by the vehicle;
步骤2:根据复合制动的制动力分配策略,在满足制动安全和制动稳定性的前提下,得出各轴最佳制动的制动力分配,进而获得挂车所需要的制动转矩;Step 2: According to the braking force distribution strategy of compound braking, on the premise of satisfying braking safety and braking stability, the optimal braking force distribution of each axis is obtained, and then the braking torque required by the trailer is obtained. ;
同时,根据电气复合制动模式下的制动力分配模块,得出挂车部分所需要的理想状态的电机制动转矩和气动制动转矩;At the same time, according to the braking force distribution module in the electrical compound braking mode, the ideal motor braking torque and pneumatic braking torque required for the trailer part are obtained;
通过驾驶员的操作和车辆实时状态进行对再生制动补偿系统模式和气动补偿系统模式的选择,一种模式被激活,则另一种模式要关闭,进而通过MPC对被激活模式的补偿转矩进行调节;The regenerative braking compensation system mode and the pneumatic compensation system mode are selected through the driver's operation and the real-time status of the vehicle. When one mode is activated, the other mode must be closed, and then the MPC compensates for the torque of the activated mode. make adjustments;
步骤3:在制动补偿过程中,进行补偿模式的决策,本方法采用MPC控制器进行对制动过程中电机补偿转矩与气动补偿转矩进行调节;Step 3: During the braking compensation process, make a decision on the compensation mode. This method uses an MPC controller to adjust the motor compensation torque and pneumatic compensation torque during the braking process;
通过MPC控制器实时的进行对制动强度进行预测,以保证制动的精度与准确;本文通过对车辆的纵向动力学模型作为预测模型,选取车辆的挂车部分电机的转速和车辆气缸内压力作为状态量,选取复合制动过程中的实际的电控制动转矩与气制动转矩作为控制量,同时由理想的制动力矩作为优化控制条件输入给MPC,得到优化控制后的所需的补偿转矩;The braking intensity is predicted in real time by the MPC controller to ensure the precision and accuracy of braking; this paper uses the longitudinal dynamics model of the vehicle as the prediction model, and selects the speed of the motor of the trailer part of the vehicle and the pressure in the vehicle cylinder as The state quantity selects the actual electronic braking torque and air braking torque during the compound braking process as the control quantity. At the same time, the ideal braking torque is input to the MPC as the optimal control condition to obtain the required parameters after optimized control. compensation torque;
步骤4:制动转矩补偿模式的决策:Step 4: Decision of brake torque compensation mode:
1)当检测到制动力呈上升趋势时,且电池的SOC低于所标定的能够再生制动回收的上限值时,再生制动系统补偿模式激活,气动补偿系统模式禁止运行;电制动先行介入,当电控制动达到额定外特性的最大值时气制动开始介入,由于气制动的延迟转矩而导致的实际制动转矩与所需制动转矩之间的差异,通过电机补偿转矩ΔTm来补偿响应迟滞,其中电机补偿转矩ΔTm通过MPC对制动补偿模块进行调整,尽量使提供的制动转矩接近于实际所需的转矩大小;1) When it is detected that the braking force shows an upward trend and the SOC of the battery is lower than the calibrated upper limit of regenerative braking recovery, the regenerative braking system compensation mode is activated and the pneumatic compensation system mode is prohibited from operating; electric braking Intervene first. When the electronic brake reaches the maximum value of the rated external characteristics, the air brake begins to intervene. The difference between the actual braking torque and the required braking torque due to the delay torque of the air brake, The response lag is compensated by the motor compensation torque ΔT m , where the motor compensation torque ΔT m is adjusted by the MPC to the brake compensation module to try to make the provided braking torque close to the actual required torque;
2)当识别到驾驶员松开制动踏板的意图,或者是当电池的SOC高于所标定的能够再生制动回收的上限值时,即此时再生制动系统退出工作时,需要进行补偿模式的切换,再生制动系统补偿模式退出运行,气动补偿系统禁止开始激活。在电制动缓慢退出的过程中,出现过渡性制动力矩不足的情况,通过气动补偿转矩ΔTp进行补偿。其中气动补偿转矩ΔTp也通过MPC进行补偿调整,补偿制动转矩瞬时不足的现象。2) When the driver's intention to release the brake pedal is recognized, or when the SOC of the battery is higher than the calibrated upper limit of regenerative braking recovery, that is, when the regenerative braking system stops working, it is necessary to perform When switching the compensation mode, the regenerative braking system compensation mode exits operation, and the pneumatic compensation system prohibits activation. During the slow withdrawal of electric braking, insufficient transitional braking torque occurs, which is compensated by the pneumatic compensation torque ΔT p . The pneumatic compensation torque ΔT p is also compensated and adjusted through MPC to compensate for the instantaneous shortage of braking torque.
本发明与现有技术相比较,有益效果如下:Compared with the prior art, the beneficial effects of the present invention are as follows:
1、本专利所述的复合制动系统的制动补偿方法,一方面解决了气动制动的扭矩的延迟而导致的实际制动扭矩与所需制动扭矩之间的差异的问题,另一方面解决了再生制动退出时过渡性转矩不足的现象,并获得更好的制动感觉;1. The braking compensation method of the composite braking system described in this patent solves the problem of the difference between the actual braking torque and the required braking torque caused by the delay of the pneumatic braking torque on the one hand, and on the other hand On the one hand, it solves the phenomenon of insufficient transitional torque when regenerative braking is exited, and obtains a better braking feeling;
2、本专利所述的复合制动补偿方法通过MPC控制器对电机补偿转矩和气动补偿转矩进行优化控制,保证制动的精确性与准确性。2. The composite braking compensation method described in this patent uses the MPC controller to optimize the motor compensation torque and pneumatic compensation torque to ensure the accuracy and accuracy of braking.
附图说明Description of drawings
下面结合附图对实施例的描述将变得容易理解,其中:The following description of the embodiments will become easier to understand in conjunction with the accompanying drawings, in which:
图1为根据本发明实施例的一种增程式电驱桥半挂车的复合制动迟滞补偿方法模式切换条件以及控制流程图;Figure 1 is a mode switching condition and control flow chart of a compound braking hysteresis compensation method for an extended-range electric axle semi-trailer according to an embodiment of the present invention;
图2为根据本发明实施例的一种电驱桥半挂牵引车增程式混动系统构型图。Figure 2 is a configuration diagram of an extended-range hybrid system of an electric axle semi-trailer tractor according to an embodiment of the present invention.
具体实施方式Detailed ways
下面详细描述本发明的实施例,所述实施例的示例在附图中示出,其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的,仅用于解释本发明,而不能理解为对本发明的限制。Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and cannot be understood as limiting the present invention.
参考附图1来描述增程式电驱桥半挂车的复合制动迟滞补偿的控制方法,但本发明并不限于这些实施例。The control method of compound braking hysteresis compensation of the extended-range electric axle semi-trailer is described with reference to FIG. 1 , but the present invention is not limited to these embodiments.
步骤1:当驾驶员根据实时路况,做出制动选择时,根据制动踏板位置变化率、制动踏板位置、电池的SOC状态、车速等信息计算总需求制动转矩和进行制动力分配等;Step 1: When the driver makes a braking choice based on real-time road conditions, the total required braking torque and braking force distribution are calculated based on the brake pedal position change rate, brake pedal position, battery SOC status, vehicle speed and other information. wait;
该再生制动控制策略的核心是电制动力的需求和总制动力控制策略,总需求制动力矩由制动踏板和车辆制动系参数决定,即由制动强度需求决定总制动力矩,其中,制动踏板位置由制动工况决定,车速和电池为车辆模型实时计算值,汽车的制动系统接收并传递驾驶员的制动意图,并作出反应产生相应的制动强度,计算出车辆所需要的制动力;The core of this regenerative braking control strategy is the electric braking force demand and the total braking force control strategy. The total braking torque demand is determined by the brake pedal and vehicle braking system parameters, that is, the total braking torque is determined by the braking intensity demand. Among them, the brake pedal position is determined by the braking conditions, the vehicle speed and battery are calculated in real time by the vehicle model. The car's braking system receives and transmits the driver's braking intention, and reacts to generate the corresponding braking intensity, and calculates The braking force required by the vehicle;
步骤2:根据复合制动的制动力分配策略,在满足制动安全和制动稳定性的前提下,得出各轴最佳制动的制动力分配,进而获得挂车所需要的制动转矩;Step 2: According to the braking force distribution strategy of compound braking, on the premise of satisfying braking safety and braking stability, the optimal braking force distribution of each axis is obtained, and then the braking torque required by the trailer is obtained. ;
同时,根据电气复合制动模式下的制动力分配模块,得出挂车部分所需要的理想状态的电机制动转矩和气动制动转矩;At the same time, according to the braking force distribution module in the electrical compound braking mode, the ideal motor braking torque and pneumatic braking torque required for the trailer part are obtained;
通过驾驶员的操作和车辆实时状态进行对再生制动补偿系统模式和气动补偿系统模式的选择,一种模式被激活,则另一种模式要关闭,进而通过MPC对被激活模式的补偿转矩进行调节;The regenerative braking compensation system mode and the pneumatic compensation system mode are selected through the driver's operation and the real-time status of the vehicle. When one mode is activated, the other mode must be closed, and then the MPC compensates for the torque of the activated mode. make adjustments;
步骤3:在制动补偿过程中,进行补偿模式的决策,本方法采用MPC控制器进行对制动过程中电机补偿转矩与气动补偿转矩进行调节;Step 3: During the braking compensation process, make a decision on the compensation mode. This method uses an MPC controller to adjust the motor compensation torque and pneumatic compensation torque during the braking process;
通过MPC控制器实时的进行对制动强度进行预测,以保证制动的精度与准确;本文通过对车辆的纵向动力学模型作为预测模型,选取车辆的挂车部分电机的转速和车辆气缸内压力作为状态量,选取复合制动过程中的实际的电控制动转矩与气制动转矩作为控制量,同时由理想的制动力矩作为优化控制条件输入给MPC,得到优化控制后的所需的补偿转矩;The braking intensity is predicted in real time by the MPC controller to ensure the precision and accuracy of braking; this paper uses the longitudinal dynamics model of the vehicle as the prediction model, and selects the speed of the motor of the trailer part of the vehicle and the pressure in the vehicle cylinder as The state quantity selects the actual electronic braking torque and air braking torque during the compound braking process as the control quantity. At the same time, the ideal braking torque is input to the MPC as the optimal control condition to obtain the required parameters after optimized control. compensation torque;
步骤4:制动转矩补偿模式的决策:Step 4: Decision of brake torque compensation mode:
1)当检测到制动力呈上升趋势时,且电池的SOC低于所标定的能够再生制动回收的上限值时,再生制动系统补偿模式激活,气动补偿系统模式禁止运行;电制动先行介入,当电控制动达到额定外特性的最大值时气制动开始介入,由于气制动的延迟转矩而导致的实际制动转矩与所需制动转矩之间的差异,通过电机补偿转矩ΔTm来补偿响应迟滞,其中电机补偿转矩ΔTm通过MPC对制动补偿模块进行调整,尽量使提供的制动转矩接近于实际所需的转矩大小;1) When it is detected that the braking force shows an upward trend and the SOC of the battery is lower than the calibrated upper limit of regenerative braking recovery, the regenerative braking system compensation mode is activated and the pneumatic compensation system mode is prohibited from operating; electric braking Intervene first. When the electronic brake reaches the maximum value of the rated external characteristics, the air brake begins to intervene. The difference between the actual braking torque and the required braking torque due to the delay torque of the air brake, The response lag is compensated by the motor compensation torque ΔT m , where the motor compensation torque ΔT m is adjusted by the MPC to the brake compensation module to try to make the provided braking torque close to the actual required torque;
2)当识别到驾驶员松开制动踏板的意图,或者是当电池的SOC高于所标定的能够再生制动回收的上限值时,即此时再生制动系统退出工作时,需要进行补偿模式的切换,再生制动系统补偿模式退出运行,气动补偿系统禁止开始激活。在电制动缓慢退出的过程中,出现过渡性制动力矩不足的情况,通过气动补偿转矩ΔTp进行补偿。其中气动补偿转矩ΔTp也通过MPC进行补偿调整,补偿制动转矩瞬时不足的现象。2) When the driver's intention to release the brake pedal is recognized, or when the SOC of the battery is higher than the calibrated upper limit of regenerative braking recovery, that is, when the regenerative braking system stops working, it is necessary to perform When switching the compensation mode, the regenerative braking system compensation mode exits operation, and the pneumatic compensation system prohibits activation. During the slow withdrawal of electric braking, insufficient transitional braking torque occurs, which is compensated by the pneumatic compensation torque ΔT p . The pneumatic compensation torque ΔT p is also compensated and adjusted through MPC to compensate for the instantaneous shortage of braking torque.
本发明中较多的使用了诸如SOC等术语,但并不排除使用其它术语的可能性。使用这些术语仅仅是为了更方便地描述和解释本发明的本质;把它们解释成任何一种附加的限制都是与本发明精神相违背的。Terms such as SOC are frequently used in the present invention, but the possibility of using other terms is not excluded. These terms are used only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional limitations is contrary to the spirit of the present invention.
尽管已经示出和描述了本发明的实施例,本领域的普通技术人员可以理解:在不脱离本发明的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型,本发明的范围由权利要求及其等同物限定。Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and purposes of the invention. The scope of the invention is defined by the claims and their equivalents.
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Cited By (2)
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CN117985011A (en) * | 2024-04-03 | 2024-05-07 | 潍柴动力股份有限公司 | Vehicle braking method and system |
CN120080820A (en) * | 2025-05-06 | 2025-06-03 | 山东科技大学 | Braking energy recovery device and method for multi-motor multi-gear heavy commercial vehicle |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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CN117985011A (en) * | 2024-04-03 | 2024-05-07 | 潍柴动力股份有限公司 | Vehicle braking method and system |
CN120080820A (en) * | 2025-05-06 | 2025-06-03 | 山东科技大学 | Braking energy recovery device and method for multi-motor multi-gear heavy commercial vehicle |
CN120080820B (en) * | 2025-05-06 | 2025-07-18 | 山东科技大学 | Braking energy recovery device and method for multi-motor multi-gear heavy commercial vehicle |
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