Vehicle coordination type energy recovery control method and system based on braking torque control

Abstract

The invention relates to a vehicle coordination type energy recovery control method and system based on braking torque control, and the method comprises the steps: receiving a voltage signal output by an analog foot valve and an external signal source through a vehicle control unit, and carrying out the coordination through a coordination type energy recovery control module; then the vehicle control unit sends a corresponding execution signal to a motor controller and an air pressure adjusting module, and coordination control is conducted on the reverse dragging braking torque of the driving motor and the braking air pressure of the air pressure adjusting module; the external signal source is an activation state signal output by an anti-lock braking control system (ABS), a battery electric quantity signal output by a battery management system and a braking torque demand signal output by a motor controller; through coordinated control over the reverse dragging braking torque of the driving motor and the braking air pressure of the air pressure adjusting module, the energy recovery level of the electric vehicle is improved, the working time of the electric air compressor is shortened, the reliability is improved, the stability of the braking torque is guaranteed, and the safety of the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy commercial vehicles, and in particular to a vehicle coordinated energy recovery control method and system based on braking torque control. Background Art

[0002] In new energy commercial vehicles, energy recovery has become a basic vehicle function that cannot be ignored. The role of the energy recovery function is to convert part of the mechanical energy during vehicle deceleration or braking into electrical energy through the motor while ensuring the vehicle's driving stability, and then store the recovered electrical energy in the battery pack.

[0003] The existing energy recovery strategy is a superimposed energy recovery control strategy. During the braking process, air pressure and motor braking are carried out simultaneously, the energy recovery level is low, and the full capacity of the motor's anti-drag braking torque cannot be brought into play. The gas consumption is high, the electric air compressor runs for a long time, the vehicle power consumption is large, the energy recovery level is low, and the motor's anti-drag braking utilization rate is low; the electric air compressor inflates frequently and has low reliability; the motor braking torque changes during braking, resulting in the inability to adjust the vehicle's braking torque and poor braking stability. Summary of the invention

[0004] The object of the present invention is to provide a vehicle coordinated energy recovery control method and system based on braking torque control in view of the deficiencies in the prior art.

[0005] The present invention is achieved by adopting the following technical solutions:

[0006] The vehicle coordinated energy recovery control method based on braking torque control, the vehicle controller receives the voltage signal output by the analog foot valve and the external signal source, coordinates through the coordinated energy recovery control module, and then the vehicle controller sends the corresponding execution signal to the motor controller and the air pressure regulation module to coordinate the control of the anti-drag braking torque of the drive motor and the braking air pressure of the air pressure regulation module;

[0007] The external signal sources are an activation state signal output by an anti-lock braking control system ABS, a battery power signal output by a battery management system, and a braking torque demand signal output by a motor controller.

[0008] Preferably, the execution signal is an actual output torque signal and an air pressure regulation execution signal. The motor controller receives the actual output torque signal and sends a motor torque execution signal to the drive motor to control the anti-drag braking torque of the drive motor; the air pressure regulation module receives the air pressure regulation execution signal to control the brake air pressure of the air pressure regulation module.

[0009] Preferably, the analog foot valve converts the foot valve stroke into a voltage signal, and the vehicle controller receives the voltage signal and converts the voltage signal into a pedal opening signal.

[0010] Preferably, after the vehicle controller converts the voltage signal into a pedal opening signal, it determines whether the reverse braking torque of the drive motor is fully involved in braking according to the pedal opening signal;

[0011] When the pedal opening is less than the calibrated value, the reverse braking torque of the drive motor is partially involved in braking. At this time, the air pressure regulating module is closed, and the drive motor executes the corresponding actual output torque and feeds back the actual output torque to the vehicle controller. When the reverse braking torque of the partial drive motor cannot reach the execution braking torque sent by the vehicle controller, air pressure braking is required to supplement it. At this time, the vehicle controller calculates the torque difference between the execution braking torque and the reverse braking torque of the partial drive motor, and converts the torque difference into a braking air pressure request. The air pressure regulating module generates the corresponding braking force according to the braking air pressure request.

[0012] When the pedal opening is greater than the calibrated value and the driving motor's anti-drag braking torque is fully involved in braking, the vehicle controller sends an execution signal to the motor controller, and at the same time sends an execution signal to the air pressure regulation module according to the vehicle controller, so that the driving motor and the air pressure regulation module brake at the same time.

[0013] Preferably, it also includes a coordinated energy recovery system control switch, and the coordinated energy recovery system control switch is a soft switch or a hard switch.

[0014] Preferably, the external signal source also includes start-up and shutdown signals of a coordinated energy recovery system control switch.

[0015] Preferably, it also includes a coordinated energy recovery system activation mode, a coordinated energy recovery system release mode and a coordinated energy recovery system exit mode;

[0016] The activation mode of the coordinated energy recovery system is as follows: when the vehicle is driving and there is a pedal opening signal output, the vehicle controller judges the external signal source to determine whether the activation conditions for energy recovery are met. When the activation conditions are met, the corresponding execution signal is sent to the motor controller and the air pressure regulation module according to the vehicle running state to achieve coordinated control of the drive motor's anti-drag braking torque and the air pressure regulation module's brake pressure;

[0017] The activation conditions include but are not limited to: the voltage signal sent by the analog foot valve is valid, the anti-lock braking control system ABS is not activated, the battery power is <, and the drive motor has no fault;

[0018] Coordinated energy recovery system release mode: When the pedal opening signal is, the vehicle controller sends a brake release command to the motor controller and the air pressure regulation module, the vehicle brake is released, and the coordinated energy recovery system releases control;

[0019] The coordinated energy recovery system exits mode. When at least one signal in the external signal source does not meet the activation conditions for energy recovery, the vehicle controller sends a brake release command to the motor controller and the air pressure regulation module, the coordinated energy recovery system exits, and the air pressure regulation module outputs the brake air pressure for braking.

[0020] A vehicle coordinated energy recovery control system based on braking torque control is used to implement any of the commercial vehicle coordinated energy recovery control methods based on braking torque control as described above, including an analog foot valve, an anti-lock braking control system ABS, a motor controller, a vehicle controller, a battery management system, a drive motor, and an air pressure regulation module, wherein the vehicle controller is provided with a coordinated energy recovery control module.

[0021] Compared with the prior art, the present invention has the following beneficial technical effects:

[0022] The present invention improves the energy recovery level of electric vehicles by coordinating the control of the reverse braking torque of the driving motor and the braking air pressure of the air pressure regulating module during braking, reduces the working time of the electric air compressor, and improves reliability. At the same time, through coordinated control, the stability of the braking torque during braking is ensured, thereby improving the safety of the vehicle.

[0023] The present invention is applicable to all motor-driven vehicles;

[0024] The present invention can also effectively reduce the wear of the friction plate and increase the service life of the friction plate; at the same time, under certain circumstances, it ensures the braking safety of the vehicle under extreme working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a framework diagram of the present invention.

[0026] Figure annotation:

[0027] 1. Analog foot valve; 2. Anti-lock braking control system ABS; 3. Motor controller; 4. Vehicle controller; 5. Battery management system; 6. Drive motor; 7. Air pressure regulation module. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] Embodiment 1

[0030] like Figure 1 As shown, in the vehicle coordinated energy recovery control method based on braking torque control, the vehicle controller 4 receives the voltage signal output by the analog foot valve 1 and the external signal source, and coordinates through the coordinated energy recovery control module, and then the vehicle controller 4 sends the corresponding execution signal to the motor controller 3 and the air pressure regulating module 7 to coordinate the anti-drag braking torque of the drive motor and the braking air pressure of the air pressure regulating module;

[0031] The external signal sources are an activation state signal output by the anti-lock braking control system ABS2 , a battery power signal output by the battery management system 5 , and a braking torque demand signal output by the motor controller 3 .

[0032] The execution signal is an actual output torque signal and an air pressure regulation execution signal. The motor controller 3 receives the actual output torque signal and sends a motor torque execution signal to the drive motor 6 to control the anti-drag braking torque of the drive motor; the air pressure regulation module 7 receives the air pressure regulation execution signal to control the brake air pressure of the air pressure regulation module 7.

[0033] The analog foot valve 1 converts the foot valve stroke into a voltage signal, and the vehicle controller receives the voltage signal and converts the voltage signal into a pedal opening signal.

[0034] After the vehicle controller 4 converts the voltage signal into a pedal opening signal, it determines whether the driving motor's anti-drag braking torque is fully involved in braking according to the pedal opening signal;

[0035] When the pedal opening is less than the calibration value, the reverse braking torque of the drive motor is partially involved in braking. At this time, the air pressure regulating module 7 is closed, and the drive motor 6 executes the corresponding actual output torque, and feeds back the actual output torque to the vehicle controller 4. When the reverse braking torque of part of the drive motor cannot reach the execution braking torque sent by the vehicle controller 4, pneumatic braking is required to supplement it. At this time, the vehicle controller 4 calculates the torque difference between the execution braking torque and the reverse braking torque of part of the drive motor, and converts the torque difference into a braking air pressure request. The air pressure regulating module 7 generates a corresponding braking force according to the braking air pressure request;

[0036] When the pedal opening is greater than the calibrated value and the driving motor's anti-drag braking torque is fully involved in braking, the vehicle controller 4 sends an execution signal to the motor controller 3, and at the same time sends an execution signal to the air pressure regulating module 7 according to the vehicle controller 4, so that the driving motor 6 and the air pressure regulating module 7 are braked simultaneously.

[0037] The calibration value of the pedal opening is to match different angle values ​​according to different market conditions, and there is no fixed value. For example, when the pedal angle is 10-20 degrees, how much is the anti-drag torque... and so on.

[0038] It also includes a coordinated energy recovery system control switch, which is a soft switch or a hard switch.

[0039] The external signal source also includes a start and a stop signal of a coordinated energy recovery system control switch.

[0040] Also includes a coordinated energy recovery system activation mode, a coordinated energy recovery system release mode and a coordinated energy recovery system exit mode;

[0041] The activation mode of the coordinated energy recovery system is: during vehicle driving, when there is a pedal opening signal output, the vehicle controller 4 judges the external signal source to determine whether the activation conditions of energy recovery are met. When the activation conditions are met, the corresponding execution signal is sent to the motor controller 3 and the air pressure regulating module 7 according to the vehicle running state to achieve coordinated control of the anti-drag braking torque of the drive motor and the braking air pressure of the air pressure regulating module;

[0042] The activation conditions include but are not limited to: the voltage signal sent by the analog foot valve 1 is valid, the anti-lock brake control system ABS2 is not activated, the battery power is <100, and the drive motor 6 has no fault;

[0043] Coordinated energy recovery system release mode: when the pedal opening signal is 0, the vehicle controller 4 sends a brake release command to the motor controller 3 and the air pressure regulating module 7, the vehicle brake is released, and the coordinated energy recovery system releases control;

[0044] The coordinated energy recovery system exits the mode. When at least one signal in the external signal source does not meet the activation conditions for energy recovery, the vehicle controller 4 sends a brake release command to the motor controller 3 and the air pressure regulating module 7, the coordinated energy recovery system exits, and the air pressure regulating module 7 outputs the brake air pressure for braking.

[0045] Embodiment 2

[0046] A vehicle coordinated energy recovery control system based on braking torque control is used to implement any of the above vehicle coordinated energy recovery control methods based on braking torque control, including an analog foot valve 1, an anti-lock braking control system ABS2, a motor controller 3, a vehicle controller 4, a battery management system 5, a drive motor 6, and an air pressure regulating module 7. The vehicle controller 4 is provided with a coordinated energy recovery control module.

Claims

1. A vehicle coordinated energy recovery control method based on braking torque control, characterized in that: The vehicle controller (4) receives the voltage signal output by the analog foot valve (1) and the external signal source, and coordinates through the coordinated energy recovery control module. Then, the vehicle controller (4) sends a corresponding execution signal to the motor controller (3) and the air pressure regulating module (7) to coordinately control the anti-drag braking torque of the drive motor and the braking air pressure of the air pressure regulating module; The external signal sources are an activation state signal output by an anti-lock braking control system ABS (2), a battery power signal output by a battery management system (5), and a braking torque demand signal output by a motor controller (3).

2. The vehicle coordinated energy recovery control method based on braking torque control according to claim 1, characterized in that: The execution signal is an actual output torque signal and an air pressure adjustment execution signal, the motor controller (3) receives the actual output torque signal and sends a motor torque execution signal to the drive motor (6) to control the anti-drag braking torque of the drive motor; The air pressure regulating module (7) receives the air pressure regulating execution signal and performs brake air pressure control of the air pressure regulating module (7).

3. The vehicle coordinated energy recovery control method based on braking torque control according to claim 2, characterized in that: The analog foot valve (1) converts the foot valve stroke into a voltage signal, and the vehicle controller receives the voltage signal and converts the voltage signal into a pedal opening signal.

4. The vehicle coordinated energy recovery control method based on braking torque control according to claim 3, characterized in that: After the vehicle controller (4) converts the voltage signal into a pedal opening signal, it determines whether the reverse braking torque of the drive motor is fully involved in braking according to the pedal opening signal: When the pedal opening is less than the calibrated value, the reverse braking torque of the drive motor is partially involved in braking. At this time, the air pressure regulating module (7) is closed, and the drive motor (6) executes the corresponding actual output torque, and feeds back the actual output torque to the vehicle controller (4). When the reverse braking torque of the partial drive motor cannot reach the execution braking torque sent by the vehicle controller (4), air pressure braking is required to supplement it. At this time, the vehicle controller (4) calculates the torque difference between the execution braking torque and the reverse braking torque of the partial drive motor, and converts the torque difference into a braking air pressure request. The air pressure regulating module (7) generates a corresponding braking force according to the braking air pressure request. When the pedal opening is greater than a calibrated value and the reverse braking torque of the drive motor is fully involved in braking, the vehicle controller (4) sends an execution signal to the motor controller (3), and at the same time sends an execution signal to the air pressure regulating module (7) according to the vehicle controller (4), so that the drive motor (6) and the air pressure regulating module (7) are braked simultaneously.

5. The vehicle coordinated energy recovery control method based on braking torque control according to claim 3, characterized in that: It also includes a coordinated energy recovery system control switch, which is a soft switch or a hard switch.

6. The vehicle coordinated energy recovery control method based on braking torque control according to claim 4, characterized in that: The external signal source also includes a start-up and a shut-down signal of a coordinated energy recovery system control switch.

7. The vehicle coordinated energy recovery control method based on braking torque control according to claim 5, characterized in that: Also includes a coordinated energy recovery system activation mode, a coordinated energy recovery system release mode and a coordinated energy recovery system exit mode; The coordinated energy recovery system activation mode is as follows: when a pedal opening signal is output during vehicle driving, the vehicle controller (4) judges the external signal source to determine whether the activation conditions for energy recovery are met. When the activation conditions are met, a corresponding execution signal is sent to the motor controller (3) and the air pressure regulating module (7) according to the vehicle running state, so as to achieve coordinated control of the anti-drag braking torque of the drive motor and the braking air pressure of the air pressure regulating module; The activation conditions include but are not limited to: the voltage signal sent by the analog foot valve (1) is valid, the anti-lock braking control system ABS (2) is not activated, the battery power is less than 100, and the drive motor (6) has no fault; Coordinated energy recovery system release mode: when the pedal opening signal is 0, the vehicle controller (4) sends a brake release command to the motor controller (3) and the air pressure regulating module (7), the vehicle brake is released, and the coordinated energy recovery system releases control; The coordinated energy recovery system exits the mode. When at least one signal in the external signal source does not meet the activation conditions for energy recovery, the vehicle controller (4) sends a brake release command to the motor controller (3) and the air pressure regulating module (7), the coordinated energy recovery system exits, and the air pressure regulating module (7) outputs the brake air pressure for braking.

8. A vehicle coordinated energy recovery control system based on braking torque control, used to implement the commercial vehicle coordinated energy recovery control method based on braking torque control as described in any one of claims 1 to 7, characterized in that: The invention comprises an analog foot valve (1), an anti-lock braking control system ABS (2), a motor controller (3), a vehicle controller (4), a battery management system (5), a drive motor (6), and an air pressure regulating module (7); the vehicle controller (4) is provided with a coordinated energy recovery control module.

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