CN118003901A - Method and device for processing braking energy recovery torque of electric automobile - Google Patents
Method and device for processing braking energy recovery torque of electric automobile Download PDFInfo
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- CN118003901A CN118003901A CN202410423813.5A CN202410423813A CN118003901A CN 118003901 A CN118003901 A CN 118003901A CN 202410423813 A CN202410423813 A CN 202410423813A CN 118003901 A CN118003901 A CN 118003901A
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Classifications
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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
-
- 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The method comprises the steps of obtaining the opening degree of a brake pedal of an electric automobile, and calculating the maximum energy recovery torque of a power system of the electric automobile according to the power system parameter of the electric automobile and the running speed of the electric automobile if the brake pedal of the electric automobile is at the upper limit of the preset opening degree; if the brake pedal of the electric automobile is not at the preset upper opening limit, acquiring an actual opening value k of the brake pedal of the electric automobile and a brake pedal coefficient of the brake pedal of the electric automobile under the actual opening value k; Based on maximum energy recovery torque of power system of electric automobile and brake pedal coefficientCalculating the driver expected moment under the actual opening value k; Using the resulting driver desired torqueAnd the specific gear speed ratio of the gearbox of the electric automobile, and calculating the expected braking torque of the motor. The invention can improve the braking energy recovery efficiency of the electric commercial vehicle, the endurance mileage and the driving comfort.
Description
Technical Field
The invention relates to a method and a device for processing braking energy recovery torque of an electric automobile, and belongs to the technical field of energy recovery of electric automobiles.
Background
For pure electric commercial vehicles, the energy recovery of the braking system is an important method capable of effectively improving the endurance mileage. At present, a calculation method of energy recovery torque of a commercial vehicle generally judges according to a simple pedal stroke, a motor rotating speed, a charging state value and the residual electric quantity of a whole vehicle battery, and after an energy recovery mode is started, interpolation is carried out according to a preset energy recovery energy feedback mapping table to output energy feedback torque, so that part of braking energy is recovered by the motor.
At present, in the traditional energy recovery strategy, the corresponding energy feedback mapping table can be obtained only roughly through pedal travel and motor rotation speed, the problem that the energy recovery moment is suddenly changed due to motor rotation speed change under different gears exists, and the problem that the energy recovery moment is discontinuous due to state change caused by the fact that a driver releases a pedal to steps on the pedal is caused due to the fact that the sliding energy recovery state and the general energy recovery state are distinguished; meanwhile, the mechanical braking and the motor braking are not well matched, so that the energy recovery efficiency in the whole driving process is relatively low.
Disclosure of Invention
Therefore, the invention provides a method and a device for processing braking energy recovery torque of an electric automobile, which solve the problems of low braking energy recovery efficiency of the electric commercial automobile and poor driving comfort of a driver.
In order to achieve the above object, the present invention provides the following technical solutions: a method for processing braking energy recovery torque of an electric automobile comprises the following steps:
Acquiring the opening degree of a brake pedal of an electric automobile, judging whether the brake pedal of the electric automobile is at the preset opening upper limit, and if the brake pedal of the electric automobile is at the preset opening upper limit, calculating the maximum energy recovery torque of a power system of the electric automobile according to the power system parameters of the electric automobile and the vehicle running speed of the electric automobile;
If the brake pedal of the electric automobile is not at the preset upper opening limit, acquiring an actual opening value k of the brake pedal of the electric automobile, and acquiring a brake pedal coefficient of the brake pedal of the electric automobile under the actual opening value k according to the actual opening value k of the brake pedal of the electric automobile ；
According to the maximum energy recovery torque of the power system of the electric automobile and the obtained brake pedal coefficient of the brake pedal of the electric automobile under the actual opening value kCalculating the driver expected moment/>, of a power system of the electric automobile under the actual opening value k；
Using the resulting driver desired torqueAnd calculating the expected braking torque of the motor under the specified gear according to the gear speed ratio of the gearbox of the electric automobile.
As a preferable scheme of the braking energy recovery torque processing method of the electric automobile, a power system of the electric automobile is divided into three sections by combining the running speed of the electric automobile: a constant power section, a constant torque section, and an unloading section;
The constant power interval is ~，For the vehicle speed of the electric vehicle at the beginning of braking,A first preset value for the running speed of the vehicle;
The constant torque interval is ~，A second preset value for the running speed of the vehicle;
The unloading interval is ~，The maximum speed corresponding to the creep torque of the electric automobile.
As an optimal scheme of the electric vehicle braking energy recovery torque processing method, under the constant power interval, the power is recovered according to the maximum energy of a motor of the electric vehicleAnd calculating the vehicle running speed and the braking torque/> of the power system under the constant power interval according to the maximum charging power of the power battery systemIs a function of:
；
In the method, in the process of the invention, Is the peak value of the motor;
Is the rated voltage of the motor;
Pulse peak for battery 30 s;
is the rated power of the motor;
a sustained discharge peak for the battery;
for the corrected brake pedal opening is/> Brake pedal coefficient at time,The maximum value of the opening degree of the brake pedal is more than 95 percent;
；
Wherein T is the maximum braking torque of the power system; i Major subtraction is the transmission ratio of the main speed reducer; r Tire with a tire body is the tire radius; is the current vehicle travel speed.
As an optimal scheme of the electric vehicle braking energy recovery torque processing method, under the constant torque interval, the maximum power system braking torque is calculated according to the highest gear speed ratio and the rated motor braking torque：
；
In the method, in the process of the invention,The maximum anti-supporting moment of the rear axle is set; /(I)Is the peak torque of the motor,Rated torque of the motor; /(I)For the corrected brake pedal opening isBrake pedal coefficient at time;
first preset value of vehicle running speed The determined formula of (2) is:
；
In the method, in the process of the invention, The power is recovered for the maximum energy of the motor of the electric automobile; /(I)Braking torque for the maximum powertrain; i Major subtraction is the transmission ratio of the main speed reducer; /(I)Is the tire radius.
As a preferable scheme of the braking energy recovery torque processing method of the electric automobile, the unloading interval and the braking torque of a power systemThe calculation formula of (2) is as follows:
；
；
In the method, in the process of the invention, Is the actual vehicle calibration value of the electric vehicle,The value range of the system is 200 N.m.h/km-300N.m.h/km;
when the running speed of the vehicle is reduced to the maximum speed corresponding to the creep torque of the electric vehicle At that time, the braking energy recovery exits.
As a preferable scheme of the braking energy recovery torque processing method of the electric automobile, the driver expected torque of a power system of the electric automobile under the actual opening value k is calculatedThe formula is:
；
the formula for calculating the motor braking torque in the designated gear is:
；
In the method, in the process of the invention, A torque is desired for the driver; /(I)A desired braking torque for the motor; /(I)A gear speed ratio is designated for a gearbox of an electric vehicle.
The invention also provides a braking energy recovery torque processing device of the electric automobile, which comprises:
The maximum energy recovery torque analysis module is used for acquiring the opening degree of a brake pedal of the electric automobile, judging whether the brake pedal of the electric automobile is at the upper limit of the preset opening degree, and if the brake pedal of the electric automobile is at the upper limit of the preset opening degree, calculating the maximum energy recovery torque of a power system of the electric automobile according to the power system parameter of the electric automobile and the running speed of the electric automobile;
The brake pedal coefficient analysis module is used for acquiring an actual opening value k of the brake pedal of the electric automobile if the brake pedal of the electric automobile is not at a preset opening upper limit, and acquiring a brake pedal coefficient of the brake pedal of the electric automobile under the actual opening value k according to the actual opening value k of the brake pedal of the electric automobile ；
The driver expected torque analysis module is used for recovering torque according to the maximum energy of the power system of the electric automobile and obtaining a brake pedal coefficient of a brake pedal of the electric automobile under an actual opening value kCalculating the driver expected moment/>, of a power system of the electric automobile under the actual opening value k；
An electric machine desired braking torque analysis module for utilizing the resulting driver desired torqueAnd calculating the expected braking torque of the motor under the specified gear according to the gear speed ratio of the gearbox of the electric automobile.
As an optimal scheme of the braking energy recovery torque processing device of the electric automobile, in the maximum energy recovery torque analysis module, a power system of the electric automobile is divided into three sections by combining the running speed of the electric automobile: a constant power section, a constant torque section, and an unloading section;
The constant power interval is ~，For the vehicle speed of the electric vehicle at the beginning of braking,A first preset value for the running speed of the vehicle;
The constant torque interval is ~，A second preset value for the running speed of the vehicle;
The unloading interval is ~，The maximum speed corresponding to the creep torque of the electric automobile.
As an optimal scheme of the braking energy recovery torque processing device of the electric automobile, under the constant power interval, the power is recovered according to the maximum energy of the motor of the electric automobileAnd calculating the vehicle running speed and the braking torque/> of the power system under the constant power interval according to the maximum charging power of the power battery systemIs a function of:
；
In the method, in the process of the invention, Is the peak value of the motor;
Is the rated voltage of the motor;
Pulse peak for battery 30 s;
is the rated power of the motor;
a sustained discharge peak for the battery;
for the corrected brake pedal opening is/> Brake pedal coefficient at time,The maximum value of the opening degree of the brake pedal is more than 95 percent;
；
Wherein T is the maximum braking torque of the power system; i Major subtraction is the transmission ratio of the main speed reducer; r Tire with a tire body is the tire radius; The current running speed of the vehicle;
Under the constant torque interval, calculating the maximum power system braking torque according to the highest gear speed ratio and the rated motor braking torque ：
；
In the method, in the process of the invention,The maximum anti-supporting moment of the rear axle is set; /(I)Is the peak torque of the motor,Rated torque of the motor; /(I)For the corrected brake pedal opening isBrake pedal coefficient at time;
first preset value of vehicle running speed The determined formula of (2) is:
；
In the method, in the process of the invention, The power is recovered for the maximum energy of the motor of the electric automobile; /(I)Braking torque for the maximum powertrain;
the unloading interval is the braking torque of the power system The calculation formula of (2) is as follows:
；
；
In the method, in the process of the invention, Is the actual vehicle calibration value of the electric vehicle,The value range of the system is 200 N.m.h/km-300N.m.h/km;
when the running speed of the vehicle is reduced to the maximum speed corresponding to the creep torque of the electric vehicle At that time, the braking energy recovery exits.
As a preferable scheme of the braking energy recovery torque processing device of the electric automobile, the driver expected torque analysis module calculates the driver expected torque of the power system of the electric automobile under the actual opening value kThe formula is:
；
in the motor expected braking torque analysis module, a formula for calculating motor braking torque under a specified gear is as follows:
；
In the method, in the process of the invention, A torque is desired for the driver; /(I)A desired braking torque for the motor; /(I)A gear speed ratio is designated for a gearbox of an electric vehicle.
The invention has the following advantages: acquiring the opening degree of a brake pedal of an electric automobile, judging whether the brake pedal of the electric automobile is at the preset opening upper limit, and if the brake pedal of the electric automobile is at the preset opening upper limit, calculating the maximum energy recovery torque of a power system of the electric automobile according to the power system parameters of the electric automobile and the vehicle running speed of the electric automobile; if the brake pedal of the electric automobile is not at the preset upper opening limit, acquiring an actual opening value k of the brake pedal of the electric automobile, and acquiring a brake pedal coefficient of the brake pedal of the electric automobile under the actual opening value k according to the actual opening value k of the brake pedal of the electric automobile; According to the maximum energy recovery torque of the power system of the electric automobile and the obtained brake pedal coefficient/>, under the actual opening value k, of the brake pedal of the electric automobileCalculating the driver expected moment/>, of a power system of the electric automobile under the actual opening value k; With the resulting driver desired torqueAnd calculating the expected braking torque of the motor under the specified gear according to the gear speed ratio of the gearbox of the electric automobile. The invention can improve the braking energy recovery efficiency of the electric commercial vehicle, the endurance mileage and the driving comfort of a driver.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those skilled in the art from this disclosure that the drawings described below are merely exemplary and that other embodiments may be derived from the drawings provided without undue effort.
Fig. 1 is a schematic flow chart of a method for processing braking energy recovery torque of an electric automobile according to an embodiment of the invention;
Fig. 2 is a schematic diagram of a maximum power system braking torque under a preset opening upper limit in the method for processing braking energy recovery torque of an electric automobile according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a brake pedal opening ratio in the method for processing braking energy recovery torque of an electric automobile according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a mapping relationship of a brake pedal in the method for processing braking energy recovery torque of an electric automobile according to an embodiment of the present invention;
FIG. 5 is a schematic diagram showing a relationship between a brake pedal opening and a mechanical brake torque in a method for processing brake energy recovery torque of an electric automobile according to an embodiment of the present invention;
Fig. 6 is a diagram of an electric vehicle braking energy recovery torque processing device according to an embodiment of the present invention.
Detailed Description
Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, embodiment 1 of the present invention provides a method for processing braking energy recovery torque of an electric vehicle, comprising the following steps:
S1, acquiring the opening degree of a brake pedal of an electric automobile, judging whether the brake pedal of the electric automobile is at the upper limit of a preset opening degree, and if the brake pedal of the electric automobile is at the upper limit of the preset opening degree, calculating the maximum energy recovery torque of a power system of the electric automobile according to the power system parameter of the electric automobile and the running speed of the electric automobile;
S2, if the brake pedal of the electric automobile is not at the preset upper opening limit, acquiring an actual opening value k of the brake pedal of the electric automobile, and acquiring a brake pedal coefficient of the brake pedal of the electric automobile under the actual opening value k according to the actual opening value k of the brake pedal of the electric automobile ；
S3, recovering torque according to the maximum energy of the power system of the electric automobile and obtaining a brake pedal coefficient of a brake pedal of the electric automobile under an actual opening value kCalculating the driver expected moment/>, of a power system of the electric automobile under the actual opening value k；
S4, utilizing the obtained expected moment of the driverAnd calculating the expected braking torque of the motor under the specified gear according to the gear speed ratio of the gearbox of the electric automobile.
In this embodiment, in step S1, the maximum energy recovery torque of the power system is calculated according to the power system parameters of the electric vehicle and the vehicle running speed, where the maximum energy recovery torque of the power system, that is, the torque of the brake pedal at the preset opening upper limit of 100% is calculated, as shown in fig. 2, by taking the brake system as an object, although the brake torque output by the power system with a low gear is lower, the brake torque output by the whole power system can be smoother, and because the main recovery efficient section of the brake energy is the speed adjustment stage, that is, the high-gear high vehicle speed, the brake torque output by the power system with a low gear is lower, so that the brake torque is not greatly affected.
In the present embodiment, the following vehicle travel speedFor example, the start of braking, the braking torque is divided into three phases. Dividing a power system of the electric automobile into three sections by combining the running speed of the electric automobile: a constant power section, a constant torque section, and an unloading section;
The constant power interval is ~，For the vehicle speed of the electric vehicle at the beginning of braking,A first preset value for the running speed of the vehicle;
The constant torque interval is ~，A second preset value for the running speed of the vehicle;
The unloading interval is ~，The maximum speed corresponding to the creep torque of the electric automobile.
Specifically, under the constant power interval, power is recovered according to the maximum energy of the motor of the electric automobileAnd calculating the vehicle running speed and the braking torque/> of the power system under the constant power interval according to the maximum charging power of the power battery systemWherein:
；
In the method, in the process of the invention, Is the peak value of the motor;
Is the rated voltage of the motor;
Pulse peak for battery 30 s;
is the rated power of the motor;
a sustained discharge peak for the battery;
for the corrected brake pedal opening is/> Brake pedal coefficient at time,The maximum value of the opening degree of the brake pedal is more than 95 percent; as shown in fig. 3, the brake pedal opening is not greater than 95% and not greater than 40%, i.e., the value of k in this embodiment is 40%;
The functional relation between the running speed of the vehicle and the braking torque T of the power system in the constant power interval can be obtained by the method:
；
Wherein T is the maximum braking torque of the power system; i Major subtraction is the transmission ratio of the main speed reducer; r Tire with a tire body is the tire radius; is the current vehicle travel speed.
In this embodiment, under the constant torque interval, the maximum braking torque of the power system is calculated according to the highest gear speed ratio and the rated braking torque of the motor：
；
In the method, in the process of the invention,The maximum anti-supporting moment of the rear axle is set; /(I)Is the peak torque of the motor,Rated torque of the motor; /(I)For the corrected brake pedal opening isBrake pedal coefficient at time;
first preset value of vehicle running speed The determined formula of (2) is:
；
In the method, in the process of the invention, The power is recovered for the maximum energy of the motor of the electric automobile; /(I)Braking torque for the maximum powertrain; i Major subtraction is the transmission ratio of the main speed reducer; /(I)Is the tire radius.
In this embodiment, the unloading interval is the braking torque of the power systemThe calculation formula of (2) is as follows:
；
；
In the method, in the process of the invention, Is the actual vehicle calibration value of the electric vehicle,The value range of the system is 200 N.m.h/km-300N.m.h/km;
in order to prevent the galloping phenomenon, when the running speed of the vehicle is reduced to the maximum speed corresponding to the creep torque of the electric automobile At that time, the braking energy recovery exits.
As shown in fig. 4, in the present embodiment, in step S2, the map of the brake pedal includes three parts:
a first part: when the brake pedal input is 0, the system will take As the output value (0.2 in the present embodiment), as the coasting energy recovery intensity, this mode does not require a special judgment of the coasting state, and can ensure continuity of the braking torque during the changeover of the coasting state and the energy recovery state, while making the coasting energy recovery torque as large as possible under the condition of ensuring continuity of the braking torque during the changeover of the coasting state and the energy recovery state.
A second part: the main function of this section is to maximize the energy recovery torque in this section as much as possible, and to compensate for the braking force deficiency caused by the initial build-up process or the mechanical lash during the mechanical braking. The relationship between the mechanical brake pedal opening and the mechanical brake torque is shown in fig. 5.
Third section: and the part with the opening degree of the system pedal larger than the k value is regarded as emergency braking only in a few cases (below 5 percent), and the braking torque is provided as large as possible under the state of not triggering abs or other active driving auxiliary systems, so that enough braking torque is ensured under the extreme conditions of mechanical braking failure and the like.
In this embodiment, in step S3, according to the maximum energy recovery torque of the power system of the electric vehicle and the obtained brake pedal coefficient of the brake pedal of the electric vehicle at the actual opening value kCalculating the driver expected moment/>, of a power system of the electric automobile under the actual opening value k; Calculating the driver expected moment/>, of a power system of the electric automobile under the actual opening value kThe formula is:
；
in step S4, the resulting driver desired torque is used The speed ratio of the specified gear of the gearbox of the electric automobile is calculated, the expected braking torque of the motor under the specified gear is calculated, and the formula for calculating the braking torque of the motor under the specified gear is as follows
；
In the method, in the process of the invention,A torque is desired for the driver; /(I)A desired braking torque for the motor; /(I)A gear speed ratio is designated for a gearbox of an electric vehicle.
By testing the scheme of the embodiment of the invention on the heavy automobile Hao-W V7-X of the appointed automobile type, after more than 50 times of road tests totaling about 10000 km, compared with the original energy recovery strategy, the energy recovery strategy saves 8.3% of hundred km electricity consumption, and test data are shown in the table 1:
table 1 experimental data for the present invention compared to the original energy recovery strategy
In summary, according to the present invention, by acquiring the opening degree of the brake pedal of the electric vehicle, it is determined whether the brake pedal of the electric vehicle is at the preset opening upper limit, if the brake pedal of the electric vehicle is at the preset opening upper limit, the maximum energy recovery torque of the power system of the electric vehicle is calculated according to the power system parameter of the electric vehicle and the vehicle running speed of the electric vehicle, wherein the power system of the electric vehicle is divided into three sections by combining the vehicle running speed of the electric vehicle: a constant power section, a constant torque section, and an unloading section; the constant power interval is~，For the vehicle speed of the electric vehicle at the beginning of braking,A first preset value for the running speed of the vehicle; the constant torque interval is~，A second preset value for the running speed of the vehicle; the unloading interval is~，The maximum speed corresponding to the creep torque of the electric automobile; if the brake pedal of the electric automobile is not at the preset upper opening limit, acquiring an actual opening value k of the brake pedal of the electric automobile, and acquiring a brake pedal coefficient/>, under the actual opening value k, of the brake pedal of the electric automobile according to the actual opening value k of the brake pedal of the electric automobile; According to the maximum energy recovery torque of the power system of the electric automobile and the obtained brake pedal coefficient of the brake pedal of the electric automobile under the actual opening value kCalculating the driver expected moment/>, of a power system of the electric automobile under the actual opening value k; With the resulting driver desired torqueAnd calculating the expected braking torque of the motor under the specified gear according to the gear speed ratio of the gearbox of the electric automobile. The invention can improve the braking energy recovery efficiency of the electric commercial vehicle, the endurance mileage and the driving comfort of a driver.
It should be noted that the method of the embodiments of the present disclosure may be performed by a single device, such as a computer or a server. The method of the embodiment can also be applied to a distributed scene, and is completed by mutually matching a plurality of devices. In the case of such a distributed scenario, one of the devices may perform only one or more steps of the methods of embodiments of the present disclosure, the devices interacting with each other to accomplish the methods.
It should be noted that the foregoing describes some embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Example 2
Referring to fig. 6, the embodiment of the invention further provides a braking energy recovery torque processing device of an electric automobile, which includes:
The maximum energy recovery torque analysis module 001 is used for acquiring the opening degree of a brake pedal of the electric automobile, judging whether the brake pedal of the electric automobile is at the upper limit of the preset opening degree, and if the brake pedal of the electric automobile is at the upper limit of the preset opening degree, calculating the maximum energy recovery torque of a power system of the electric automobile according to the power system parameter of the electric automobile and the running speed of the electric automobile;
A brake pedal coefficient analysis module 002, configured to obtain an actual opening value k of the brake pedal of the electric vehicle if the brake pedal of the electric vehicle is not at the preset upper opening limit, and obtain a brake pedal coefficient of the brake pedal of the electric vehicle under the actual opening value k according to the actual opening value k of the brake pedal of the electric vehicle ；
The driver expected torque analysis module 003 is configured to recover torque according to a maximum energy of a power system of the electric vehicle, and obtain a brake pedal coefficient of a brake pedal of the electric vehicle at an actual opening value kCalculating the driver expected moment/>, of a power system of the electric automobile under the actual opening value k；
An electric machine desired braking torque analysis module 004 for utilizing the resulting driver desired torqueAnd calculating the expected braking torque of the motor under the specified gear according to the gear speed ratio of the gearbox of the electric automobile.
In this embodiment, in the maximum energy recovery torque analysis module 001, the power system of the electric vehicle is divided into three sections in combination with the vehicle running speed of the electric vehicle: a constant power section, a constant torque section, and an unloading section;
The constant power interval is ~，For the vehicle speed of the electric vehicle at the beginning of braking,A first preset value for the running speed of the vehicle;
The constant torque interval is ~，A second preset value for the running speed of the vehicle;
The unloading interval is ~，The maximum speed corresponding to the creep torque of the electric automobile.
Under the constant power interval, recovering power according to the maximum energy of the motor of the electric automobileAnd calculating the vehicle running speed and the braking torque of the power system in the constant power interval by the maximum charging power of the power battery systemIs a function of: /(I)
；
In the method, in the process of the invention,Is the peak value of the motor;
Is the rated voltage of the motor;
Pulse peak for battery 30 s;
is the rated power of the motor;
a sustained discharge peak for the battery;
for the corrected brake pedal opening is/> Brake pedal coefficient at time,The maximum value of the opening degree of the brake pedal is more than 95 percent;
；
Wherein T is the maximum braking torque of the power system; i Major subtraction is the transmission ratio of the main speed reducer; r Tire with a tire body is the tire radius; The current running speed of the vehicle;
Under the constant torque interval, calculating the maximum power system braking torque according to the highest gear speed ratio and the rated motor braking torque ：
；
In the method, in the process of the invention,The maximum anti-supporting moment of the rear axle is set; /(I)Is the peak torque of the motor,Rated torque of the motor; /(I)For the corrected brake pedal opening isBrake pedal coefficient at time;
first preset value of vehicle running speed The determined formula of (2) is:
；
In the method, in the process of the invention, The power is recovered for the maximum energy of the motor of the electric automobile; /(I)Braking torque for the maximum powertrain;
the unloading interval is the braking torque of the power system The calculation formula of (2) is as follows:
；
；
In the method, in the process of the invention, Is the actual vehicle calibration value of the electric vehicle,The value range of the system is 200 N.m.h/km-300N.m.h/km;
when the running speed of the vehicle is reduced to the maximum speed corresponding to the creep torque of the electric vehicle At that time, the braking energy recovery exits. /(I)
In this embodiment, in the driver expected torque analysis module 003, a driver expected torque of the power system of the electric vehicle at the actual opening value k is calculatedThe formula is:
；
in the motor expected braking torque analysis module 004, a formula for calculating motor braking torque under a specified gear is as follows:
；
In the method, in the process of the invention, A torque is desired for the driver; /(I)A desired braking torque for the motor; /(I)A gear speed ratio is designated for a gearbox of an electric vehicle.
It should be noted that, because the content of information interaction and execution process between the modules of the above-mentioned device is based on the same concept as the method embodiment in the embodiment 1 of the present application, the technical effects brought by the content are the same as the method embodiment of the present application, and the specific content can be referred to the description in the foregoing illustrated method embodiment of the present application, which is not repeated herein.
Example 3
Embodiment 3 of the present invention provides a non-transitory computer-readable storage medium having stored therein program code of an electric-vehicle braking energy recovery torque processing method, the program code including instructions for executing the electric-vehicle braking energy recovery torque processing method of embodiment 1 or any possible implementation thereof.
Computer readable storage media can be any available media that can be accessed by a computer or data storage devices, such as servers, data centers, etc., that contain an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (Solid STATE DISK, SSD)), etc.
Example 4
Embodiment 4 of the present invention provides an electronic device, including: a memory and a processor;
the processor and the memory complete communication with each other through a bus; the memory stores program instructions executable by the processor, the processor invoking the program instructions capable of executing the electric vehicle braking energy recovery torque processing method of embodiment 1 or any possible implementation thereof.
Specifically, the processor may be implemented by hardware or software, and when implemented by hardware, the processor may be a logic circuit, an integrated circuit, or the like; when implemented in software, the processor may be a general-purpose processor, implemented by reading software code stored in a memory, which may be integrated in the processor, or may reside outside the processor, and which may reside separately.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.).
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may alternatively be implemented in program code executable by computing devices, so that they may be stored in a memory device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps within them may be fabricated into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (10)
1. The method for processing the braking energy recovery torque of the electric automobile is characterized by comprising the following steps of:
Acquiring the opening degree of a brake pedal of an electric automobile, judging whether the brake pedal of the electric automobile is at the preset opening upper limit, and if the brake pedal of the electric automobile is at the preset opening upper limit, calculating the maximum energy recovery torque of a power system of the electric automobile according to the power system parameters of the electric automobile and the vehicle running speed of the electric automobile;
If the brake pedal of the electric automobile is not at the preset upper opening limit, acquiring an actual opening value k of the brake pedal of the electric automobile, and acquiring a brake pedal coefficient of the brake pedal of the electric automobile under the actual opening value k according to the actual opening value k of the brake pedal of the electric automobile ；
According to the maximum energy recovery torque of the power system of the electric automobile and the obtained brake pedal coefficient of the brake pedal of the electric automobile under the actual opening value kCalculating the driver expected moment/>, of a power system of the electric automobile under the actual opening value k；
Using the resulting driver desired torqueAnd calculating the expected braking torque of the motor under the specified gear according to the gear speed ratio of the gearbox of the electric automobile.
2. The method for processing braking energy recovery torque of an electric vehicle according to claim 1, wherein a power system of the electric vehicle is divided into three sections in combination with a vehicle running speed of the electric vehicle: a constant power section, a constant torque section, and an unloading section;
The constant power interval is ~，For the vehicle speed of the electric vehicle at the beginning of braking,A first preset value for the running speed of the vehicle;
The constant torque interval is ~，A second preset value for the running speed of the vehicle;
The unloading interval is ~，The maximum speed corresponding to the creep torque of the electric automobile.
3. The method for processing braking energy recovery torque of an electric vehicle according to claim 2, wherein the power recovery power is maximum according to the motor of the electric vehicle in the constant power intervalAnd calculating the vehicle running speed and the braking torque/> of the power system under the constant power interval according to the maximum charging power of the power battery systemIs a function of:
；
In the method, in the process of the invention, Is the peak value of the motor;
Is the rated voltage of the motor;
Pulse peak for battery 30 s;
is the rated power of the motor;
a sustained discharge peak for the battery;
for the corrected brake pedal opening is/> Brake pedal coefficient at time,The maximum value of the opening degree of the brake pedal is more than 95 percent;
；
wherein T is the maximum braking torque of the power system; i Major subtraction is the transmission ratio of the main speed reducer; Is the radius of the tire; /(I) Is the current vehicle travel speed.
4. The method for processing braking energy recovery torque of an electric vehicle according to claim 3, wherein the maximum power system braking torque is calculated according to the highest gear speed ratio and the rated motor braking torque in the constant torque interval：
；
In the method, in the process of the invention,The maximum anti-supporting moment of the rear axle is set; /(I)Is the peak torque of the motor,Rated torque of the motor; /(I)For the corrected brake pedal opening isBrake pedal coefficient at time;
first preset value of vehicle running speed The determined formula of (2) is:
；
In the method, in the process of the invention, The power is recovered for the maximum energy of the motor of the electric automobile; /(I)Braking torque for the maximum powertrain; i Major subtraction is the transmission ratio of the main speed reducer; /(I)Is the tire radius.
5. The method for braking energy recovery torque processing for an electric vehicle of claim 4, wherein said unloading zone is a powertrain braking torqueThe calculation formula of (2) is as follows:
；
；
In the method, in the process of the invention, Is the actual vehicle calibration value of the electric vehicle,The value range of the system is 200 N.m.h/km-300N.m.h/km;
when the running speed of the vehicle is reduced to the maximum speed corresponding to the creep torque of the electric vehicle At that time, the braking energy recovery exits.
6. The method for processing braking energy recovery torque of an electric vehicle according to claim 5, wherein a driver's desired torque of a power system of the electric vehicle at an actual opening value k is calculatedThe formula is:
；
the formula for calculating the motor braking torque in the designated gear is:
；
In the method, in the process of the invention, A torque is desired for the driver; /(I)A desired braking torque for the motor; /(I)A gear speed ratio is designated for a gearbox of an electric vehicle.
7. An electric vehicle braking energy recovery torque processing device, comprising:
The maximum energy recovery torque analysis module is used for acquiring the opening degree of a brake pedal of the electric automobile, judging whether the brake pedal of the electric automobile is at the upper limit of the preset opening degree, and if the brake pedal of the electric automobile is at the upper limit of the preset opening degree, calculating the maximum energy recovery torque of a power system of the electric automobile according to the power system parameter of the electric automobile and the running speed of the electric automobile;
The brake pedal coefficient analysis module is used for acquiring an actual opening value k of the brake pedal of the electric automobile if the brake pedal of the electric automobile is not at a preset opening upper limit, and acquiring a brake pedal coefficient of the brake pedal of the electric automobile under the actual opening value k according to the actual opening value k of the brake pedal of the electric automobile ；
The driver expected torque analysis module is used for recovering torque according to the maximum energy of the power system of the electric automobile and obtaining a brake pedal coefficient of a brake pedal of the electric automobile under an actual opening value kCalculating the driver expected moment/>, of a power system of the electric automobile under the actual opening value k；
An electric machine desired braking torque analysis module for utilizing the resulting driver desired torqueAnd calculating the expected braking torque of the motor under the specified gear according to the gear speed ratio of the gearbox of the electric automobile.
8. The braking energy recovery torque processing device for an electric vehicle according to claim 7, wherein in the maximum energy recovery torque analysis module, a power system of the electric vehicle is divided into three sections by combining a vehicle running speed of the electric vehicle: a constant power section, a constant torque section, and an unloading section;
The constant power interval is ~，For the vehicle speed of the electric vehicle at the beginning of braking,A first preset value for the running speed of the vehicle;
The constant torque interval is ~，A second preset value for the running speed of the vehicle;
The unloading interval is ~，The maximum speed corresponding to the creep torque of the electric automobile.
9. The device for processing braking energy recovery torque of an electric vehicle according to claim 8, wherein the power recovery power is maximum according to the motor of the electric vehicle in the constant power intervalAnd calculating the vehicle running speed and the braking torque/> of the power system under the constant power interval according to the maximum charging power of the power battery systemIs a function of:
；
In the method, in the process of the invention, Is the peak value of the motor;
Is the rated voltage of the motor;
Pulse peak for battery 30 s;
is the rated power of the motor;
a sustained discharge peak for the battery;
for the corrected brake pedal opening is/> Brake pedal coefficient at time,The maximum value of the opening degree of the brake pedal is more than 95 percent;
；
wherein T is the maximum braking torque of the power system; i Major subtraction is the transmission ratio of the main speed reducer; Is the radius of the tire; /(I) The current running speed of the vehicle;
Under the constant torque interval, calculating the maximum power system braking torque according to the highest gear speed ratio and the rated motor braking torque ：
；
In the method, in the process of the invention,The maximum anti-supporting moment of the rear axle is set; /(I)Is the peak torque of the motor,Rated torque of the motor; /(I)For the corrected brake pedal opening isBrake pedal coefficient at time;
first preset value of vehicle running speed The determined formula of (2) is:
；
In the method, in the process of the invention, The power is recovered for the maximum energy of the motor of the electric automobile; /(I)Braking torque for the maximum powertrain;
the unloading interval is the braking torque of the power system The calculation formula of (2) is as follows:
；
；
In the method, in the process of the invention, Is the actual vehicle calibration value of the electric vehicle,The value range of the system is 200 N.m.h/km-300N.m.h/km;
when the running speed of the vehicle is reduced to the maximum speed corresponding to the creep torque of the electric vehicle At that time, the braking energy recovery exits.
10. The braking energy recovery torque processing device for an electric vehicle according to claim 9, wherein in the driver expected torque analysis module, a driver expected torque of a power system of the electric vehicle at an actual opening value k is calculatedThe formula is:
；
in the motor expected braking torque analysis module, a formula for calculating motor braking torque under a specified gear is as follows:
；
In the method, in the process of the invention, A torque is desired for the driver; /(I)A desired braking torque for the motor; /(I)A gear speed ratio is designated for a gearbox of an electric vehicle.
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