CN104071139A - Compound regenerative braking system for electric automobile - Google Patents
Compound regenerative braking system for electric automobile Download PDFInfo
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- CN104071139A CN104071139A CN201410310357.XA CN201410310357A CN104071139A CN 104071139 A CN104071139 A CN 104071139A CN 201410310357 A CN201410310357 A CN 201410310357A CN 104071139 A CN104071139 A CN 104071139A
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Abstract
The invention discloses a compound regenerative braking system for an electric automobile. The compound regenerative braking system for the electric automobile overcomes the problems of the low braking energy recycling efficiency and the braking safety caused by mutual interference of a traditional hydraulic braking system and a motor regeneration braking system. The compound regenerative braking system for the electric automobile comprises a driving motor regeneration braking subsystem and a hydraulic braking subsystem; the hydraulic braking subsystem comprises a braking pedal, a pedal position sensor and a braking main cylinder; the braking pedal and the right end of a braking push rod of the braking main cylinder are connected; the pedal position sensor is installed at a position of the braking pedal; an A braking solenoid valve a opening and an A high pressure energy accumulator are connected with a braking main cylinder front chamber pipeline; an A braking solenoid valve b opening and a right front braking device are connected with a left front braking pipeline; a B braking solenoid valve a opening and a B high pressure energy accumulator are connected with a braking main cylinder rear chamber pipeline; a B braking solenoid valve b opening and a right rear braking device are connected with a left rear braking device pipeline; an output end of the pedal position sensor and an input port c of a detection module of the driving motor regeneration braking subsystem are in electric wire connection.
Description
Technical field
The present invention relates to the brake system in a kind electronlmobil Regenerative Braking Technology field, or rather, the present invention relates to a kind of combined regenerative braking system for electronlmobil.
Background technology
Electronlmobil refers to that all or part of electric energy driving motor of using, as the automobile of power system, comprises hybrid vehicle, fuel cell powered vehicle, pure electric automobile etc., at these vehicle medium power outputs, is that electrical motor or its part are electrical motors.The drive motor of electronlmobil requires to have four abilities of limit operation mutually, both require can electric operation also can generator operation.When the drive motor of electronlmobil moves with power generation mode, be called regenerative brake, be i.e. car retardation or when braking, the mechanical energy of automobile brake be converted to electrical power storage to the process in battery.According to Japanese honda company data, electric automobile energy is carried out to effective recycling, can make automobile under the generating operation mode of urban district, increase travelled distance 26% left and right, visible Regenerative Braking Technology is the important means that electronlmobil increases continual mileage.But the regeneration brake system of electronlmobil is only that additional motor regenerative brake torque is realized on conventional hydraulic brake system basis at present, just simple in parallel between hydraulic braking and regenerative brake.This composite braking system causes electrical motor can only export less braking torque to avoid interference the normal work of former hydraulic brake system, makes the braking energy of electric automobiles percent recovery very low, fails to give full play to electronlmobil intrinsic advantage.According to statistics, existing regeneration brake system is no more than 20% to the braking energy percent recovery, and a large amount of braking energys are still dissipated as thermal energy consumption by friction brake and dissipate.Reason is because conventional hydraulic brake system exists the ABSAnti-lock Braking System control system that prevents wheel braking locking, motor regenerative brake torque is to be superimposed upon on the braking torque of hydraulic brake system, if this torque too conference causes and the misoperation of ABS system affects brake safe.Particularly to manned vehicle, due to anti-blocking brake system ABS being generally housed, when middle and high intensity braking, motor regenerative braking moment can cause with simple hydraulic braking sysgtem braking and compare, wheel decelerates is spent greatly, can cause the disconnected running car of abs controller erroneous judgement to adhere to road surface and affect braking safety in low.
According to statistics, the slight braking that automobile brake intensity is less than 0.23g accounts for 95% of the whole damped conditions of automobile, and the damped condition that is less than 0.3g rate of braking accounts for more than 99%.And be not have technical matters with the rate of braking that the lock torque of drive motor makes automobile produce 0.3g.
Summary of the invention
Technical matters to be solved by this invention is to have overcome conventional hydraulic brake system that prior art exists and the mutual interference of motor regeneration brake system causes the organic efficiency of braking energy low, affect the problem of braking safety simultaneously, a kind of combined regenerative braking system for electronlmobil is provided.
For solving the problems of the technologies described above, the present invention adopts following technical scheme to realize: the described combined regenerative braking system for electronlmobil includes drive motor regenerative brake subsystem and hydraulic braking subsystem.
Described hydraulic braking subsystem includes brake pedal, connecting rod, master brake cylinder, pedal position sensor, A braking electromagnetic valve, B braking electromagnetic valve, right front brake, left front brake, right back drg, left back drg, A high pressure accumulator and B high pressure accumulator.
Brake pedal adopts the brake push rod right-hand member in connecting rod and master brake cylinder to be rotationally connected, pedal position sensor is arranged on brake pedal, the a mouth of A braking electromagnetic valve is connected with the oil inlet and outlet pipeline of the master brake cylinder ante-chamber of master brake cylinder with the liquid in-out mouth of A high pressure accumulator, and the b mouth of A braking electromagnetic valve is connected with left front brake pipeline with right front brake; The a mouth of B braking electromagnetic valve is connected with the oil inlet and outlet pipeline of the master brake cylinder back cavity of master brake cylinder with the liquid in-out mouth of B high pressure accumulator, and the b mouth of B braking electromagnetic valve is connected with left back brake piping with right back drg.
The b mouth of the A braking electromagnetic valve described in technical scheme is connected and refers to left front brake pipeline with right front brake: the liquid in-out mouth pipeline of the b mouth of A braking electromagnetic valve and the right front brake wheel cylinder in right front brake is connected, and the liquid in-out mouth pipeline of the b mouth of A braking electromagnetic valve and the left front brake wheel cylinder in left front brake is connected.
The b mouth of the B braking electromagnetic valve described in technical scheme is connected and refers to left back brake piping with right back drg: the liquid in-out mouth pipeline of the b mouth of B braking electromagnetic valve and right back brake wheel cylinder in right back drg is connected; The liquid in-out mouth pipeline of the b mouth of B braking electromagnetic valve and left back brake wheel cylinder in left back drg is connected.
The mouth of the pedal position sensor described in technical scheme is connected with the input port c electric wire of detection module in drive motor regenerative brake subsystem, and the terminals of A braking electromagnetic valve and B braking electromagnetic valve are connected with the output port b1 electric wire of the regenerating braking energy control module with in drive motor regenerative brake subsystem.
Drive motor regenerative brake subsystem described in technical scheme includes super capacitor, battery pack, right front drive motor, left drive motor, right back drive motor, left back drive motor, brake controller and drive motor braking torque control module.Brake controller is connected with drive motor braking torque control module electric wire, brake controller is connected with battery pack electric wire, brake controller is connected with super capacitor electric wire, brake controller is connected with A braking electromagnetic valve electric wire, brake controller is connected with B braking electromagnetic valve electric wire, and brake controller is connected with left back drive motor electric wire with right front drive motor, left drive motor, right back drive motor respectively.
Brake controller described in technical scheme is connected and refers to drive motor braking torque control module electric wire: the output port b3 of the regenerating braking energy control module in brake controller is connected with the input port a1 electric wire of drive motor braking torque control module; Brake controller is connected and refers to battery pack electric wire: the output port c of the switch circuit in brake controller is connected with battery pack electric wire, and the input port b of the detection module in brake controller is connected with battery pack electric wire; Brake controller is connected and refers to super capacitor electric wire: the output port b of the switch circuit in brake controller is connected with super capacitor electric wire; Brake controller is connected with A braking electromagnetic valve electric wire, and brake controller is connected and refers to B braking electromagnetic valve electric wire: the output port b1 of the regenerating braking energy control module in brake controller is with being connected with the terminals electric wire of B braking electromagnetic valve with A braking electromagnetic valve; Brake controller is connected and refers to left back drive motor electric wire with right front drive motor, left drive motor, right back drive motor respectively: the input port a1 of the regenerating braking energy control module in brake controller, input port a2, input port a3 are connected with left back drive motor electric wire with right front drive motor, left drive motor, right back drive motor successively with input port a4.
Brake controller described in technical scheme includes switch circuit, regenerating braking energy control module and detection module.It is the micro controller system of PIC16F877 that described regenerating braking energy control module is selected model, and it is that 1 analog switch is selected on 3 tunnels 2 of 40 serial CD4053 that switch circuit is selected model, and detection module adopts the collecting sensor signal device that model is C2000MD16.The input port a1 of regenerating braking energy control module is connected with the output port a electric wire of detection module, and the output port b2 of regenerating braking energy control module is connected with the control port a electric wire of switch circuit.
Compared with prior art the invention has the beneficial effects as follows:
1. the combined regenerative braking system for electronlmobil of the present invention has solved the problem of the mutual interference of composite braking system hydraulic braking subsystem and motor regenerative brake subsystem, and with lower cost, simple system architecture, realizes the regenerative brake of electric automobile motor.
2. the combined regenerative braking system for electronlmobil of the present invention has increased super capacitor in regenerating braking energy recovery train, can cushion the removal process of regenerating braking energy.
3. the combined regenerative braking system for electronlmobil of the present invention can realize wheel braking anti-lock jointly by drive motor and braking electromagnetic valve, thereby cancelled the ABS system of conventional hydraulic brake system, with lower cost, simple system architecture, realized the regenerative brake of electric automobile motor.
4. the combined regenerative braking system for electronlmobil of the present invention has increased high pressure accumulator at hydraulic braking circuit, drive simulating person's brake feel in the time of can realizing the storage of hydraulic energy and pure motor braking.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further illustrated:
Fig. 1 is the combined regenerative braking system architecture schematic block diagram for electronlmobil of the present invention;
Fig. 2 is structure and the hydraulic braking connection schematic block diagram of the combined regenerative braking system hydraulic braking subsystem for electronlmobil of the present invention;
Fig. 3 is the structural representation block diagram of the combined regenerative braking system drive motor regenerative brake subsystem for electronlmobil of the present invention;
In figure: 1. brake pedal, 2. super capacitor, 3. connecting rod, 4. master brake cylinder, 5. pedal position sensor, 6. battery pack, 7.A braking electromagnetic valve, 8.B braking electromagnetic valve, 9. right front brake, 10. right front drive motor, 11. left drive motors, 12. left front brake, 13. right back drgs, 14. right back drive motor, 15. left back drive motor, 16. left back drgs, 17. brake controllers, 18. drive motor braking torque control modules, 19. off front wheel, 20. the near front wheels, 21. off hind wheels, 22. left rear wheels, 23. brake push rods, 24. front braking liquid inlets, 25.A high pressure accumulator, 26.B high pressure accumulator, 27. right front brake wheel cylinders, 28. left front brake wheel cylinders, 29. right back brake wheel cylinders, 30. left back brake wheel cylinders, 31. master brake cylinder ante-chambers, 32. master brake cylinder back cavities, 33. switch circuits, 34. regenerating braking energy control modules, 35. detection modules, 36. rear braking liquid inlets,
Solid line in Fig. 1, Fig. 3 between parts represents hydraulic pressure route, and dotted line represents electric signal route.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is explained in detail:
Consult Fig. 1 and Fig. 2, the combined regenerative braking system for electronlmobil of the present invention comprises hydraulic braking subsystem and drive motor regenerative brake subsystem.
The hydraulic braking subsystem of the combined regenerative braking system for electronlmobil of the present invention comprises brake pedal 1, connecting rod 3, master brake cylinder 4, pedal position sensor 5, A braking electromagnetic valve 7, B braking electromagnetic valve 8, right front brake 9, left front brake 12, right back drg 13, left back drg 16, A high pressure accumulator 25, B high pressure accumulator 26.
Described right front brake 9, left front brake 12, right back drg 13 are identical with left back drg 16 structures, all adopt same drg, can select traditional drum brake mechanism.Described A braking electromagnetic valve 7, B braking electromagnetic valve 8 are 2/2-way normally closed solenoid valve, and two electromagnetic valves are high-speed switch electromagnetic valve, adopt pwm signal to control, closed electromagnetic valve generally, and hydraulic brake system is inoperative.Described master brake cylinder 4 be take piston and is separated as ante-chamber and two chambeies of back cavity.Described pedal position sensor 5 is used for detecting the position signal of brake pedal.
The a mouth of described A braking electromagnetic valve 7 is connected with the oil inlet and outlet pipeline of the master brake cylinder ante-chamber 31 of master brake cylinder 4, the b mouth of A braking electromagnetic valve 7 is connected with the oil inlet and outlet pipeline of right front brake 9, left front brake 12, the a mouth of B braking electromagnetic valve 8 is connected with the oil inlet and outlet pipeline of the master brake cylinder back cavity 32 of master brake cylinder 4, and the b mouth of B braking electromagnetic valve 8 is connected with the oil inlet and outlet pipeline of right back drg 13, left back drg 16.Brake pedal 1 place is provided with pedal position sensor 5.
Consult Fig. 2, the hydraulic braking line connecting relation of the hydraulic braking subsystem of the combined regenerative braking system for electronlmobil of the present invention is: the oil inlet and outlet of master brake cylinder ante-chamber 31 is connected with hydraulic tubing with the liquid in-out mouth of A high pressure accumulator 25, the liquid in-out mouth of A high pressure accumulator 25 is connected with a port tube of A braking electromagnetic valve 7, and the liquid in-out mouth pipeline of the b port of A braking electromagnetic valve 7 and the left front brake wheel cylinder 28 of the right front brake wheel cylinder 27 of right front brake 9, left front brake 12 is connected.The oil inlet and outlet of master brake cylinder back cavity 32 is connected with hydraulic tubing with the liquid in-out mouth of B high pressure accumulator 26, the liquid in-out mouth of high pressure accumulator 26 is connected with a port tube of B braking electromagnetic valve 8, and the liquid in-out mouth pipeline of the b port of B braking electromagnetic valve 8 and the left back brake wheel cylinder 30 of the right back brake wheel cylinder 29 of right back drg 13, left back drg 16 is connected.
Braking liquid pressure energy when described A high pressure accumulator 25, B high pressure accumulator 26 are used for depositing motor braking, the brake feel of chaufeur while being simultaneously used for simulating pure motor braking.
Consult Fig. 3, described drive motor regenerative brake subsystem comprises drive motor braking torque control module 18, super capacitor 2, battery pack 6, right front drive motor 10, left drive motor 11, right back drive motor 14, left back drive motor 15 and brake controller 17, and described brake controller 17 includes switch circuit 33, regenerating braking energy control module 34 and detection module 35.
Described drive motor braking torque control module 18, in order to realize the control to drive motor braking torque, can adopt micro controller system, and it controls function the chip microcontroller that the model that can select Microchip company is PIC16F877.Process of charging to battery pack 6 when described super capacitor 2 is used for cushioning regenerative brake, determining of its parameter can for example, according to the energy parameter that in braking procedure, (, can select initial velocity is the braking procedure of 120km/h) callable braking energy need to be stored as super capacitor.Described right front drive motor 10, left drive motor 11, right back drive motor 14 are identical with left back drive motor 15 structures, all adopt same electrical motor, can select four classes such as asynchronous motor (IM), permanent magnet brushless electromotor (PMBLM) and switched reluctance motor (SRM) and horizontal magnetic field motor (TFPM).
Described brake controller 17 is connected with drive motor braking torque control module 18 electric wires, and drive motor braking torque control module 18 is connected with right front drive motor 10, left drive motor 11, right back drive motor 14 and left back drive motor 15 electric wires.Brake controller 17 is connected with super capacitor 2, battery pack 6 electric wires.
Described brake controller 17 includes switch circuit 33, regenerating braking energy control module 34 and detection module 35.
Regenerating braking energy control module 34 is the recovery to braking energy when realizing drive motor regenerative brake, adopt micro controller system (can select the micro controller system PIC16F877 of Microchip company) to realize the control function of regenerating braking energy control module 34, the input port a1 of regenerating braking energy control module 34, input port a2, input port a3, input port a4 successively with right front drive motor 10, left drive motor 11, right back drive motor 14, left back drive motor 15 adopts electric wire to connect, the output port of regenerating braking energy control module 34 is output port b1, input port b2, input port b3, the output port b1 of regenerating braking energy control module 34 is with being connected with the terminals electric wire of B braking electromagnetic valve 8 with A braking electromagnetic valve 7, b1 is pwm signal output port, this port is controlled A braking electromagnetic valve 7 with pwm signal, B braking electromagnetic valve 8, by controlling PWM, drive the dutycycle of signal, regulate the electric current in magnet coil to change the suffered electromagnetic force of spool, and then the opening degree of adjusting valve port, realize the adjusting of pressure of wheel braking cylinder.The output port b2 of regenerating braking energy control module 34 is connected with the control port a electric wire of switch circuit 33; The output port b3 of regenerating braking energy control module 34 is connected with the input port a1 electric wire of drive motor braking torque control module 18.
It is that 1 analog switch is selected on 3 tunnels 2 of 40 serial CD4053 that described switch circuit 33 can be selected model, the control port a of switch circuit 33 is connected with the output port b2 electric wire of regenerating braking energy control module 34, the output port b of switch circuit 33 is connected with battery pack 6 electric wires with super capacitor 2 successively with output port c, for controlling the break-make of super capacitor 2 and battery pack 6.
It is the collecting sensor signal device of C2000MD16 that described detection module 35 can adopt model, the input port of detection module 35 is input port b and input port c, the input port c of detection module 35 is connected with pedal position sensor 5 mouth electric wires, gather the pedal position signal of the transmission of pedal position sensor 5, input port b battery pack 6 electric wires of detection module 35 connect, and gather the SOC status signal of battery pack 6; The output port of detection module 35 is output port a, output port a is connected with the input port a1 electric wire of regenerating braking energy control module 34, and the pedal position signal that detection module 35 is gathered and the SOC status signal of battery pack 6 are transferred to regenerating braking energy control module 34 by input port a1.
The hydraulic braking subsystem of the combined regenerative braking system for electronlmobil of the present invention and the composite brakig strategy of drive motor regenerative brake subsystem are:
Pedal position sensor 5 is angular-motion transducers, rotating part in pedal position sensor 5 is fixedly connected with the rotating shaft of brake pedal 1, the shell of pedal position sensor 5 is fixed by bolts on pedal base, when pedal position sensor 5 detects, brake pedal 1 stroke is less is small intensity when braking, A braking electromagnetic valve 7 keeps closing with B braking electromagnetic valve 8, hydraulic braking subsystem does not produce brake-pressure, and the required whole lock torques of automobile are provided by right front drive motor 10, left drive motor 11, right back drive motor 14, left back drive motor 15.
When pedal position sensor 5 detects brake pedal 1 stroke and is more greatly the braking of large intensity, A braking electromagnetic valve 7 is opened with 8 energisings of B braking electromagnetic valve, hydraulic braking subsystem starts to produce brake-pressure, right front drive motor 10, left drive motor 11, right back drive motor 14, left back drive motor 15 still produce regenerative braking moment, all lock torque is produced jointly by hydraulic braking subsystem and electric braking, meets large intensity brake request.If there is locking trend in wheel, the electric braking moment that reduces right front drive motor 10, left drive motor 11, right back drive motor 14, left back drive motor 15 when the hydraulic braking moment of hydraulic braking subsystem is no longer increased is closed in A braking electromagnetic valve 7,8 power-off of B braking electromagnetic valve, thereby off front wheel 19, the near front wheel 20, off hind wheel 21 are reduced with the synthetical restraint moment of left rear wheel 22, realize the anti-lock of off front wheel 19, the near front wheel 20, off hind wheel 21 and left rear wheel 22.
The stroke that brake pedal 1 detected when pedal position sensor 5 is 0 (when chaufeur is decontroled brake pedal), A braking electromagnetic valve 7 is opened with B braking electromagnetic valve 8, right front brake wheel cylinder 27, left front brake wheel cylinder 28, right back brake wheel cylinder 29 and braking liquid in left back brake wheel cylinder 30 master brake cylinder 4 that flows backwards back, hydraulic brake pressure disappears, and now right front drive motor 10, left drive motor 11, right back drive motor 14 are not producing electric braking moment with left back drive motor 15 yet, and braking procedure finishes.
Does is the control policy of described switch circuit 33: (do not relate to switch circuit 33?)
Regenerating braking energy control module 34 is transmitted the SOC state of the SOC signal judgement battery pack 6 of the battery pack 6 of coming according to detection module 35, according to right front drive motor 10, left drive motor 11, the size of the braking torque judgement charging current of right back drive motor 14 and left back drive motor 15, according to the SOC state of battery pack 6 and the size of charging current, the output port b2 of regenerating braking energy control module 34 realizes the control to the control port a of switch circuit 33, if the SOC of battery pack 6 is that full power state or charging current are excessive, the control port a master cock circuit 33 of switch circuit 33 is selected the output port b of turn on-switch circuit, connect super capacitor 2 to super capacitor 2 chargings, by super capacitor 2, give battery pack 6 chargings again.Otherwise the control port a master cock circuit 33 of switch circuit 33 is selected the output port c of turn on-switch circuit, connect battery pack 6 directly to battery pack 6 chargings.
The control policy of regenerating braking energy control module 34 is:
In regenerative brake control module 34, setting in advance the threshold value λ of a pedal position signal, when pedal position is less than threshold value λ, is small intensity braking, is large intensity braking while being greater than λ.
If the pedal position sensor that regenerating braking energy control module 34 gathers according to detection module 35 5 signals judgement pedal positions are less than λ while being small intensity braking, now the required lock torque of wheel by right front drive motor 10, left drive motor 11, right back drive motor 14 produces with left back drive motor 15, drive motor braking torque control module 18 is according to wheel (off front wheel 19, the near front wheel 20, off hind wheel 21, left rear wheel 22) required lock torque is controlled right front drive motor 10, left drive motor 11, right back drive motor 14 and the required regenerative braking moment of left back drive motor 15 output, according to the right front drive motor 10 of the linear increase of brake pedal position, left drive motor 11, right back drive motor 14 and left back drive motor 15 regenerative braking moment, while being 0 as the distance of stepping on when brake pedal, output lock torque is 0, when the distance of stepping on is λ, output lock torque is 80% (this ratio can be adjusted according to actual vehicle) that motor can produce maximum braking moment, and drive motor braking torque control module 18 is pressed the regenerative braking moment that formula 1 is controlled right front drive motor 10, left drive motor 11, right back drive motor 14 and 15 outputs of left back drive motor.
When if the pedal position sensor that regenerating braking energy control module 34 gathers according to detection module 35 5 signal judgement pedal positions are greater than λ (large intensity braking), drive motor braking torque control module 18 is still controlled right front drive motor 10, left drive motor 11, right back drive motor 14 and the right front drive motor 10 of left back drive motor 15 output, left drive motor 11, right back drive motor 14 can produce 80% of maximum braking moment with 15 of left back drive motor, but because the rate of braking of automobile is now larger, if only rely on right front drive motor 10, left drive motor 11, right back drive motor 14 may be not enough to offer the required lock torque of automobile with the increase of left back drive motor 15 lock torques, can not guarantee the safety of automobile brake, so in this case, right front drive motor 10 will kept, left drive motor 11, in the constant situation of right back drive motor 14 and the lock torque of left back drive motor 15, make hydraulic braking subsystem work, by regenerating braking energy control module 34, control the dutycycle of the PWM driving signal of A braking electromagnetic valve 7 and B braking electromagnetic valve 8, regulate the electric current in magnet coil to change the opening degree that the suffered electromagnetic force of spool regulates valve port, and then regulate right front brake wheel cylinder 27, left front brake wheel cylinder 28, the brake-pressure of right back brake wheel cylinder 29 and left back brake wheel cylinder 30, for wheel (off front wheel 19, the near front wheel 20, off hind wheel 21, left rear wheel 22) provide required lock torque, right front drive motor 10 now, left drive motor 11, the hydraulic braking moment that motor regenerative braking moment and the hydraulic braking subsystem of right back drive motor 14 and left back drive motor 15 produces is as shown in Equation 2:
In formula: T
req. the required lock torque of automobile, T
e. the electric braking moment of drive motor, T
h. the hydraulic braking moment of hydraulic braking subsystem; L. the distance that brake pedal is stepped on, λ. brake pedal position threshold value.
When automobile is during in large intensity damped condition, because lock torque is crossed big wheel (off front wheel 19, the near front wheel 20, off hind wheel 21, left rear wheel 22) may there is locking, and when pure motor regenerative brake, though automobile is in small intensity damped condition, at middle height, adhere to road surface and there will not be wheel (off front wheel 19, the near front wheel 20, off hind wheel 21, left rear wheel 22) locking operating mode, but when adhering to road surface when braking extremely low, if right front drive motor 10, left drive motor 11, the words that right back drive motor 14 is very large with the regenerative brake torque of left back drive motor 15, also likely there is wheel lockup.Because the combined regenerative braking system for electronlmobil of the present invention does not have the ABS system (but retain ABS system drive wheel wheel speed sensors) of conventional hydraulic brake system, therefore regenerating braking energy control module 34 will have braking anti-lock function, its strategy is four wheel (off front wheel 19 that gather according to detection module 35, the near front wheel 20, off hind wheel 21, left rear wheel 22) (drive wheel wheel speed sensors is optional uses induction wheel speed sensors to drive wheel wheel speed sensors, Hall wheel speed sensor, if the model of popular series is the wheel speed sensors that 4B0927803 and model are 4Z7927807C, the wheel speed sensors that the model that AD company produces is AD22157) signal ω calculating current vehicle speed v and wheel add, deceleration/decel, according to vehicle speed signal and wheel speed signal, calculate braking skid rate s, computing formula is as formula 3.
If judge that wheel has locking trend when slip rate s>40% or wheel decelerates degree >0.3g, drive motor braking torque control module 18 reduces regenerative braking moment with the step-length of 10%Tqmax, when regenerating braking energy control module 34 judges that stepping on position is less than λ, only the step-length with 10%Tqmax reduces regenerative brake torque, if be greater than λ, when reducing regenerative braking moment with same method, regenerating braking energy control module 34 is controlled A braking electromagnetic valve 7 and is closed with 8 power-off of B braking electromagnetic valve, make hydraulic braking subsystem stop producing hydraulic braking moment.When slip rate s or wheel decelerates degree do not exceed above-mentioned thresholding, enter normal brake application pattern.
Claims (7)
1. for a combined regenerative braking system for electronlmobil, include drive motor regenerative brake subsystem, it is characterized in that, the described combined regenerative braking system for electronlmobil also includes hydraulic braking subsystem;
Described hydraulic braking subsystem includes brake pedal (1), connecting rod (3), master brake cylinder (4), pedal position sensor (5), A braking electromagnetic valve (7), B braking electromagnetic valve (8), right front brake (9), left front brake (12), right back drg (13), left back drg (16), A high pressure accumulator (25) and B high pressure accumulator (26);
Brake pedal (1) adopts connecting rod (3) and brake push rod (23) right-hand member in master brake cylinder (4) to be rotationally connected, pedal position sensor (5) is arranged on brake pedal (1), the liquid in-out mouth of a mouth of A braking electromagnetic valve (7) and A high pressure accumulator (25) is connected with the oil inlet and outlet pipeline of the master brake cylinder ante-chamber (31) of master brake cylinder (4), and the b mouth of A braking electromagnetic valve (7) is connected with left front brake (12) pipeline with right front brake (9); The liquid in-out mouth of a mouth of B braking electromagnetic valve (8) and B high pressure accumulator (26) is connected with the oil inlet and outlet pipeline of the master brake cylinder back cavity (32) of master brake cylinder (4), and the b mouth of B braking electromagnetic valve (8) is connected with left back drg (16) pipeline with right back drg (13).
2. according to the combined regenerative braking system for electronlmobil claimed in claim 1, it is characterized in that, the b mouth of described A braking electromagnetic valve (7) is connected and refers to left front brake (12) pipeline with right front brake (9):
The liquid in-out mouth pipeline of the b mouth of A braking electromagnetic valve (7) and right front brake wheel cylinder (27) in right front brake (9) is connected, and the liquid in-out mouth pipeline of the b mouth of A braking electromagnetic valve (7) and left front brake wheel cylinder (28) in left front brake (12) is connected.
3. according to the combined regenerative braking system for electronlmobil claimed in claim 1, it is characterized in that, the b mouth of described B braking electromagnetic valve (8) is connected and refers to left back drg (16) pipeline with right back drg (13):
The liquid in-out mouth pipeline of the b mouth of B braking electromagnetic valve (8) and right back brake wheel cylinder (29) in right back drg (13) is connected; The liquid in-out mouth pipeline of the b mouth of B braking electromagnetic valve (8) and left back brake wheel cylinder (30) in left back drg (16) is connected.
4. according to the combined regenerative braking system for electronlmobil claimed in claim 1, it is characterized in that, the mouth of described pedal position sensor (5) is connected with the input port c electric wire of detection module (35) in drive motor regenerative brake subsystem, and the terminals of A braking electromagnetic valve (7) and B braking electromagnetic valve (8) are connected with the output port b1 electric wire of the regenerating braking energy control module (34) with in drive motor regenerative brake subsystem.
5. according to the combined regenerative braking system for electronlmobil claimed in claim 1, it is characterized in that, described drive motor regenerative brake subsystem includes super capacitor (2), battery pack (6), right front drive motor (10), left drive motor (11), right back drive motor (14), left back drive motor (15), brake controller (17) and drive motor braking torque control module (18);
Brake controller (17) is connected with drive motor braking torque control module (18) electric wire, brake controller (17) is connected with battery pack (6) electric wire, brake controller (17) is connected with super capacitor (2) electric wire, brake controller (17) is connected with A braking electromagnetic valve (7) electric wire, brake controller (17) is connected with B braking electromagnetic valve (8) electric wire, and brake controller (17) is connected with left back drive motor (15) electric wire with right front drive motor (10), left drive motor (11), right back drive motor (14) respectively.
6. according to the combined regenerative braking system for electronlmobil claimed in claim 5, it is characterized in that, described brake controller (17) is connected and refers to drive motor braking torque control module (18) electric wire: the output port b3 of the regenerating braking energy control module (34) in brake controller (17) is connected with the input port a1 electric wire of drive motor braking torque control module (18); Brake controller (17) is connected and refers to battery pack (6) electric wire: the output port c of the switch circuit (33) in brake controller (17) is connected with battery pack (6) electric wire, and the input port b of the detection module (35) in brake controller (17) is connected with battery pack (6) electric wire; Brake controller (17) is connected and refers to super capacitor (2) electric wire: the output port b of the switch circuit (33) in brake controller (17) is connected with super capacitor (2) electric wire; Brake controller (17) is connected with A braking electromagnetic valve (7) electric wire, and brake controller (17) is connected and refers to B braking electromagnetic valve (8) electric wire: the output port b1 of the regenerating braking energy control module (34) in brake controller (17) is with being connected with the terminals electric wire of B braking electromagnetic valve (8) with A braking electromagnetic valve (7); Brake controller (17) is connected and refers to left back drive motor (15) electric wire with right front drive motor (10), left drive motor (11), right back drive motor (14) respectively: input port a1, the input port a2 of the regenerating braking energy control module (34) in brake controller (17), input port a3 are connected with left back drive motor (15) electric wire with right front drive motor (10), left drive motor (11), right back drive motor (14) successively with input port a4.
7. according to the combined regenerative braking system for electronlmobil claimed in claim 1, it is characterized in that, described brake controller (17) includes switch circuit (33), regenerating braking energy control module (34) and detection module (35);
It is the micro controller system of PIC16F877 that described regenerating braking energy control module (34) is selected model, it is that 1 analog switch is selected on 3 tunnels 2 of 40 serial CD4053 that switch circuit (33) is selected model, and detection module (35) adopts the collecting sensor signal device that model is C2000MD16;
The input port a1 of regenerating braking energy control module (34) is connected with the output port a electric wire of detection module (35), and the output port b2 of regenerating braking energy control module (34) is connected with the control port a electric wire of switch circuit (33).
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| CN201410310357.XA CN104071139A (en) | 2014-06-30 | 2014-06-30 | Compound regenerative braking system for electric automobile |
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| CN201410310357.XA CN104071139A (en) | 2014-06-30 | 2014-06-30 | Compound regenerative braking system for electric automobile |
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| CN106828466A (en) * | 2017-02-28 | 2017-06-13 | 安徽江淮汽车集团股份有限公司 | A kind of pure electric vehicle power-assisted braking arrangement and braking method |
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| CN111806250A (en) * | 2020-07-22 | 2020-10-23 | 盐城工学院 | Electro-hydraulic brake control system and method for electric automobile |
| CN113561951A (en) * | 2020-04-28 | 2021-10-29 | 北京新能源汽车股份有限公司 | Anti-lock braking control method, device and equipment for electric automobile and electric automobile |
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