CN114559916A - Braking energy recovery control method, system and valve - Google Patents
Braking energy recovery control method, system and valve Download PDFInfo
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- CN114559916A CN114559916A CN202110287980.8A CN202110287980A CN114559916A CN 114559916 A CN114559916 A CN 114559916A CN 202110287980 A CN202110287980 A CN 202110287980A CN 114559916 A CN114559916 A CN 114559916A
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- 238000011084 recovery Methods 0.000 title claims abstract description 53
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/58—Combined or convertible systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
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- 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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Abstract
The embodiment of the application provides a braking energy recovery control method, a braking energy recovery control system and a braking energy recovery valve, and belongs to the technical field of energy recovery. The method comprises the following steps: detecting whether the braking torque provided by the motor braking is increased or not under the condition that the motor braking and the hydraulic braking simultaneously provide the braking demand torque required by the braking; and under the condition that the braking torque provided by the motor brake is increased, controlling the braking torque provided by the hydraulic brake to be gradually reduced. Through the braking energy recovery control method, the braking energy recovery control system and the braking energy recovery valve, a driver can be prevented from losing braking deceleration in the braking process, driving safety of the driver is improved, the utilization rate of motor energy recovery can be improved, and waste of resources is reduced.
Description
Technical Field
The embodiment of the application relates to the technical field of energy recovery, in particular to a braking energy recovery control method, a braking energy recovery control system and a braking energy recovery control valve.
Background
At present, a part of vehicles are provided with a coordinated braking energy recovery system (CRBS), and a driver coordinates electric braking and hydraulic braking in a braking process so as to jointly meet the braking requirement of the driver.
In a coordinated braking energy recovery system, if the electric braking of a vehicle in the earlier stage of operation cannot meet the braking requirement of a driver, braking fluid is firstly input into a braking pipeline and a braking wheel cylinder to perform hydraulic braking; when the braking torque recovered by the motor braking is gradually increased, if the braking torque provided by the motor braking needs to be increased, the switch valve needs to be opened, so that the braking fluid in the braking pipeline and the braking wheel cylinder is unloaded to the energy accumulator.
However, when the pressure in the brake pipeline is high, most brake fluid is lost instantly when the switch valve is opened, so that the hydraulic braking capability is lost instantly, and the braking torque provided by the motor braking cannot be followed and responded instantly, so that the braking deceleration of the vehicle is lost instantly, and the vehicle suddenly brakes in the braking process.
Disclosure of Invention
The embodiment of the application provides a braking energy recovery control method, a braking energy recovery control system and a valve, and aims to solve the problem that a vehicle suddenly rushes in the braking process.
In a first aspect, an embodiment of the present application provides a braking energy recovery control method, where the method includes:
detecting whether the braking torque provided by the motor braking is increased or not under the condition that the motor braking and the hydraulic braking simultaneously provide the braking demand torque required by the braking;
and under the condition that the braking torque provided by the motor brake is increased, controlling the braking torque provided by the hydraulic brake to be gradually reduced.
Optionally, controlling the gradual decrease of the braking torque provided by the hydraulic brake under the condition that the braking torque provided by the motor brake is increased comprises:
and in the process of increasing the braking torque provided by the motor brake, controlling the opening degree of the proportional valve to increase according to the braking demand torque and the braking torque provided by the motor brake so as to control the braking torque provided by the hydraulic brake to gradually decrease.
Optionally, controlling the opening degree of the proportional valve to increase according to the braking torque currently provided by the braking of the motor and the braking demand torque, comprising:
determining a difference between the braking demand torque and a braking torque provided by the motor brake;
determining the opening value to be increased of the proportional valve according to the difference value;
and increasing the opening value to be increased on the current opening value of the proportional valve to control the opening of the proportional valve to increase.
Optionally, controlling the braking torque provided by the hydraulic brake to gradually decrease in case of an increase in the braking torque provided by the motor brake comprises:
and in the process of increasing the braking torque provided by the motor brake, the opening degree of the proportional valve is controlled to be increased according to a preset increment so as to control the braking torque provided by the hydraulic brake to be gradually reduced.
Optionally, before controlling the gradual reduction of the braking torque provided by the hydraulic brake when the braking torque provided by the motor brake is increased, the method further includes:
detecting the pressure in a brake wheel cylinder and/or a brake pipeline;
and when the braking torque provided by the motor braking is increased and the pressure is greater than or equal to a preset pressure value, controlling the braking torque provided by the hydraulic braking to be gradually reduced.
Optionally, before detecting whether the braking torque provided by braking the motor is increased, the method further includes:
controlling the hydraulic brake to provide a braking torque required for braking under the condition that the braking torque recovered by the motor brake is smaller than the braking demand torque;
wherein the braking torque provided by the motor braking is derived from the braking torque recovered by the motor braking.
A second aspect of embodiments of the present application provides a braking energy recovery control system, including:
the detection module is used for detecting whether the braking torque provided by the motor braking is increased or not under the condition that the motor braking and the hydraulic braking simultaneously provide the braking demand torque required by the braking;
the first torque control module is used for controlling the braking torque provided by the hydraulic brake to gradually decrease under the condition that the braking torque provided by the motor brake increases.
Optionally, the first torque control module comprises:
and the valve control module is used for controlling the opening of the proportional valve to be increased according to the braking demand torque and the braking torque currently provided by the motor brake in the process of increasing the braking torque provided by the motor brake so as to control the braking torque provided by the hydraulic brake to be gradually reduced.
Optionally, the valve control module comprises:
a difference value determining module for determining a difference value between the braking demand torque and a braking torque currently provided by the motor brake;
the opening determining module is used for determining an opening value to be increased of the proportional valve according to the difference value;
and the opening control module is used for increasing the opening value to be increased on the current opening value of the proportional valve so as to control the opening of the proportional valve to be increased.
A third aspect of the embodiment of the present application provides a valve, where the valve is a proportional valve, two ends of the valve are respectively connected to a brake wheel cylinder and an energy accumulator, and the valve is applied with the braking energy recovery method provided in the first aspect of the embodiment of the present application.
By means of the braking energy recovery control method, the braking torque provided by the hydraulic braking is controlled to be gradually reduced under the condition that the braking torque provided by the motor braking is increased. On one hand, under the condition that the braking torque provided by the motor braking is increased, the braking torque provided by the hydraulic braking is gradually reduced, namely, the hydraulic braking capacity is gradually reduced, rather than the hydraulic braking capacity is suddenly reduced, so that the braking torque provided by the motor braking and the braking torque provided by the hydraulic braking can be mutually compensated in real time, the instant loss of the braking deceleration is avoided, the phenomenon that the vehicle suddenly brakes in the braking process is avoided, and the safety of a driver is guaranteed; in the second aspect, when the vehicle is braked, the braking torque provided by the motor braking is adopted, the waste of the braking torque recovered by the motor braking can not be caused, and the utilization efficiency of energy is higher.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a flowchart illustrating steps of a braking energy recovery control method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a related art brake deceleration loss according to an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating that the braking torque provided by the electric machine brake is not increased after a request to establish a hydraulic brake is made in the related art according to an embodiment of the present application;
FIG. 4 is a schematic illustration after replacement of the on-off valve with a proportional valve as set forth in an embodiment of the present application;
fig. 5 is an oil piping diagram of an intelligent energy recovery system according to an embodiment of the present disclosure.
Reference numerals: 1. a brake wheel cylinder; 2. an on-off valve; 3. an accumulator.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the coordinated type braking energy recovery system in the related art, the braking requirement of a driver can be met through the cooperation of motor braking and hydraulic braking, and the sum of the motor braking and the hydraulic braking can meet the braking requirement of the driver. The motor can carry out energy recovery in the dragging process, the battery pack of the motor is charged, the battery pack utilizes the stored electric quantity, and the motor is supplied with electric energy when the motor works so as to meet the electric energy requirement of motor braking. In the process, the torque which can be provided by the electric quantity of the battery pack of the motor is the braking torque recovered by the motor braking, and the torque which is actually applied to the vehicle by the motor is the braking torque provided by the motor braking.
Referring to fig. 2 and 5, in fig. 2, at the initial stage, a curve of the driver's braking demand torque coincides with a curve of the braking torque provided by the motor brake; in the intermediate stage, the curve of the braking torque provided by the motor braking is superposed with the curve of the braking torque provided by the motor recovery; in the end phase, the curve of the driver's braking demand torque coincides with the curve of the braking torque provided by the electric machine brake.
When the braking torque provided by the motor braking in the earlier operation stage (the earlier operation stage comprises a starting price stage and a middle stage) of the vehicle cannot meet the braking demand torque of a driver, brake fluid is firstly input into a brake pipeline and a brake wheel cylinder 1, and the braking torque provided by hydraulic braking is utilized to carry out hydraulic braking on the vehicle; when the braking torque recovered by the motor braking is gradually increased, if the vehicle needs to be hydraulically braked by using the braking torque provided by the motor braking, the switch valve 2 needs to be opened, and the brake fluid in the brake pipeline and the brake wheel cylinder 1 needs to be unloaded into the accumulator 3. However, when the pressure in the brake pipe and the brake wheel cylinder 1 is relatively high, most brake fluid is lost instantly when the switch valve 2 is opened, so that the hydraulic braking capability, that is, the braking torque provided by the hydraulic braking, is reduced instantly, and the braking torque provided by the motor braking can only be gradually increased but cannot be increased instantly, so that the braking deceleration of the vehicle is lost instantly, and the vehicle suddenly brakes during the braking process.
Therefore, referring to fig. 3, in the initial stage, the curve of the driver's braking demand torque coincides with the curve of the braking torque provided by the motor brake; in the intermediate phase, the curve of the braking torque provided by the motor braking coincides with the curve of the braking torque provided by the motor recovery.
In a coordinated braking energy recovery system in the prior art, after a driver is detected to step on a braking pedal, if it is judged that the braking torque provided by the current motor recovery of a vehicle is smaller than the braking demand torque of the driver, hydraulic braking is requested to be performed so as to meet the braking demand torque of the driver, and the condition that braking deceleration is lost instantly is avoided. However, after the braking torque provided by the hydraulic brake is used to meet the braking torque demand of the driver, the braking torque provided by the motor brake is not used any more, since the braking torque provided by the hydraulic brake is enough to meet the braking torque demand of the driver, and as shown in fig. 3, even if the braking torque provided by the motor brake rises after being recovered by the motor, the braking torque provided by the motor brake does not change, which indicates that the braking torque provided by the motor brake is not recovered by the system to brake the vehicle, which results in waste of the braking torque recovered by the motor brake, and the utilization efficiency of energy is low.
In view of this, referring to fig. 4, in the initial stage, the curve of the driver's braking demand torque coincides with the curve of the braking torque provided by the motor brake; in the intermediate stage, the curve of the braking torque provided by the motor recovery coincides with the curve of the braking torque provided by the motor braking; in the end phase, the driver's braking demand torque curve coincides with the braking demand torque curve provided by the electric machine brake.
The application provides a braking energy recovery control method, and under the condition that the braking torque provided by motor braking is increased, the braking torque provided by the hydraulic braking is controlled to be gradually reduced. On one hand, under the condition that the braking torque provided by the motor brake is increased, the braking torque provided by the hydraulic brake is gradually reduced, but the braking torque provided by the hydraulic brake is not suddenly reduced, so that the braking torque provided by the motor brake and the braking torque provided by the hydraulic brake can be mutually compensated in real time, the instant loss of the braking deceleration is avoided, the phenomenon that the vehicle suddenly brakes in the braking process is prevented, and the safety of a driver is guaranteed; in a second aspect, when the vehicle is braked, the braking torque provided by the motor brake is adopted, and referring to fig. 4, the braking torque provided by the motor brake gradually rises, which indicates that the braking torque provided by the motor recovery used by the system in the present application is gradually rising, and in the end stage, under the condition that the braking torque provided by the motor recovery gradually rises, the braking torque provided by the motor brake is completely used to meet the braking demand torque of the driver, so that the waste of the braking torque recovered by the motor brake is not caused, and the utilization efficiency of energy is high.
Example one
A braking energy recovery control method, the method comprising:
step S1: in the case where the motor braking and the hydraulic braking simultaneously supply the braking demand torque required for braking, it is detected whether the braking torque supplied by the motor braking increases.
In this step, the braking demand torque of the driver can be satisfied through coordination between the motor braking and the hydraulic braking, and when the braking demand torque of the driver changes, the braking torque provided by the motor braking and the braking torque provided by the hydraulic braking will change correspondingly, so long as the sum of the braking demand torque and the braking demand torque of the driver is equal, the braking demand torque of the driver can be satisfied.
Wherein it is possible to detect by means of a sensor whether the torque provided by the motor brake increases.
Step S2: and under the condition that the braking torque provided by the motor brake is increased, controlling the braking torque provided by the hydraulic brake to be gradually reduced.
In this step, in order to avoid the instant loss of the braking deceleration of the vehicle when the braking torque provided by the motor brake is increased, the braking torque provided by the hydraulic brake may be controlled to be gradually reduced rather than suddenly reduced, so that the braking torque provided to the vehicle can be maintained in a substantially constant state, and the instant loss of the braking deceleration of the vehicle does not occur, thereby ensuring the driving safety of the driver when the driver brakes the vehicle and the braking feeling of the driver.
In this step, the gradual reduction of the braking torque provided by the hydraulic brake may be controlled based on the following two ways.
Mode 1: and in the process of increasing the braking torque provided by the motor brake, controlling the opening degree of the proportional valve to increase according to the braking demand torque and the braking torque provided by the motor brake so as to control the braking torque provided by the hydraulic brake to gradually decrease.
In this embodiment, as shown in fig. 5, in the prior art, the valve used is the on-off valve 2, that is, after the on-off valve 2 is opened, if the pressure in the brake pipe and the brake wheel cylinder 1 is large, the brake fluid is immediately unloaded from the brake pipe into the accumulator 3, which results in loss of the braking deceleration; in the present application, the opening and closing valve in fig. 5 is replaced by a proportional valve, and the opening degree of the proportional valve is gradually increased through system control, so that the brake fluid is gradually unloaded to the accumulator 3, and in this case, the loss of the braking deceleration cannot be caused.
Specifically, when the opening degree of the proportional valve is controlled to increase according to the braking demand torque and the braking torque provided by the motor brake, it may be realized based on the following sub-steps:
substep A1: a difference between the braking demand torque and a braking torque provided by the motor braking is determined.
In this step, a relationship between the opening degree of the brake pedal and the braking demand torque may be established in the system in advance, and the braking demand torque of the driver may be determined according to the opening degree of the brake pedal currently stepped on by the driver. The greater the opening degree of the brake pedal, the greater the braking demand torque of the driver.
In this step, the braking torque provided by the motor braking may be monitored by a sensor.
Wherein, since the sum of the braking torque provided by the electric motor brake and the braking torque provided by the hydraulic brake is the braking demand torque, the difference value between the braking demand torque and the braking torque provided by the electric motor brake is the braking torque provided by the hydraulic brake, that is, this step is to determine the braking torque provided by the hydraulic brake.
For example, a brake pedal opening of 70% may be established in the system to correspond to the brake demand torque of 100N.M, a brake pedal opening of 80% to correspond to the brake demand torque of 200N.M, and so on. Accordingly, when it is detected that the opening degree of the brake pedal currently depressed by the driver is 70%, the brake demand torque is determined to be 100N.M, and when it is detected that the braking torque provided by the motor brake is 30N.M by the sensor, the braking torque provided by the hydraulic brake is determined to be 70 N.M.
Substep A2: and determining the opening value to be increased of the proportional valve according to the difference value.
In this step, it is stated in step a1 that the difference between the braking torque demand and the braking torque provided by the motor braking is the braking torque provided by the hydraulic braking, so in this step a2, the opening value to be increased by the proportional valve may be determined according to the braking torque provided by the hydraulic braking. In particular, it can be realized based on the following sub-steps:
substep A21: and establishing a relation between the braking torque provided by the hydraulic braking and the opening of the proportional valve, and determining the opening value of the proportional valve according to the braking torque provided by the hydraulic braking. The larger the opening of the proportional valve is, the more brake fluid is discharged into the accumulator 3, and the smaller the braking torque provided by the hydraulic brake is.
For example, a correspondence relationship between a 10% proportional valve opening degree and a braking torque provided by a hydraulic brake of 100N.M, a correspondence relationship between a 20% proportional valve opening degree and a braking torque provided by a hydraulic brake of 70N.M, and a correspondence relationship between a 30% proportional valve opening degree and a braking torque provided by a hydraulic brake of 40N.M may be established.
Accordingly, continuing the example in sub-step a1, if the driver's brake pedal depression degree is 70%, the driver's brake demand torque is 100N.M, the brake torque allocated to the motor brake is 30N.M, and the brake torque allocated to the hydraulic brake is 70N.M, then it can be determined that the proportional valve opening degree should be adjusted to 20% based on the correspondence relationship between the proportional valve opening degree and the brake torque provided by the hydraulic brake in the above example.
Substep A22: the opening value of the current proportional valve of the vehicle is detected, and the opening value to be increased of the proportional valve is determined according to the opening value of the current proportional valve of the vehicle and the opening value corresponding to the braking torque provided by the hydraulic braking.
For example, when the current opening value of the proportional valve of the vehicle is detected to be 10%, and the opening value corresponding to the braking torque provided by the hydraulic brake is 20%, it can be determined that the opening value required to be increased by the proportional valve is 10%. Accordingly, it can be seen from the example set forth in sub-step A21 that after the proportional valve is increased by 10%, the hydraulic torque provided by the hydraulic brakes is correspondingly decreased by 30N.M, thereby achieving a gradual decrease in the hydraulic torque provided by the hydraulic brakes.
Substep A3: and increasing the opening value to be increased on the current opening value of the proportional valve to control the opening of the proportional valve to increase.
After the opening degree of the proportional valve to be increased is determined, the proportional valve is controlled to increase the opening degree of the proportional valve to be increased on the basis of the opening degree of the proportional valve of the current vehicle, so that the opening degree of the proportional valve is gradually increased.
Mode 2: during the process of increasing the braking torque provided by the motor brake, the opening degree of the proportional valve is controlled to be increased according to a preset increment so as to control the braking torque provided by the hydraulic brake to be gradually reduced
In this mode, in the process of increasing the braking torque provided by the motor braking, the opening of the proportional valve is controlled to be increased by preset increments such as 10%, 20%, 30% and the like on the basis of the current opening of the proportional valve, so that the braking torque provided by the hydraulic braking can be controlled to be decreased.
In a possible embodiment, in the above process, when the pressure in the brake cylinder 1 and the brake pipe is large (when the brake demand torque is large), the brake fluid in the brake cylinder 1 and the brake pipe is unloaded quickly, and the brake deceleration of the vehicle is suddenly lost; under the condition that the pressure in the brake wheel cylinder 1 and the brake pipeline is small (under the condition that the braking demand torque is small), the brake fluid in the brake wheel cylinder 1 and the brake pipeline can be unloaded slowly, the increasing speed of the braking torque provided by the motor braking can be matched with the unloading speed of the brake fluid in the process of increasing, and further the condition that the braking deceleration is suddenly lost can not occur.
Under the two conditions, if the braking energy recovery function in the application is started as long as the braking torque provided by the motor braking is increased, the braking torque provided by the hydraulic braking is controlled to be reduced, and the waste of the whole vehicle resource is undoubtedly increased.
Therefore, in order to more reasonably utilize the whole vehicle resources, the method further comprises the following steps:
step S3: the pressure in the brake cylinder 1 and/or the brake pipe is detected.
In this step, the pressure in the brake wheel cylinder 1 and/or the brake pipe may be detected by the pressure sensor.
Step S4: and when the braking torque provided by the motor braking is increased and the pressure is greater than or equal to a preset pressure value, controlling the braking torque provided by the hydraulic braking to be gradually reduced.
In the step, when the increase of the braking torque provided by the motor braking is detected and the pressure is greater than or equal to a preset pressure value, the braking torque provided by the hydraulic braking is controlled to be gradually reduced; when the increase of the braking torque provided by the motor braking is detected and the pressure is smaller than the preset pressure value, the braking torque provided by the hydraulic braking is not controlled to be gradually reduced, namely, the opening of the proportional valve is not controlled to be gradually increased.
By comparing the pressure in the brake pipe and the brake wheel cylinder 1 with the preset pressure value, whether the opening of the proportional valve is controlled or not can be determined according to different conditions, and the waste of resources can be reduced under the condition that the brake deceleration is prevented from being suddenly lost.
In one possible embodiment, in the case where the braking torque recovered by the motor braking is smaller than the braking demand torque, the hydraulic brake is controlled to provide the braking torque required for braking;
wherein the braking torque provided by the motor brake is derived from the braking torque recovered by the motor brake.
In this embodiment, when the braking torque recovered by the motor braking is smaller than the braking demand torque, that is, the braking torque stored in the battery pack cannot meet the braking demand torque of the driver, in order to improve the use feeling of the driver, the hydraulic braking is first controlled to provide the braking torque required by the braking, so as to quickly meet the driver demand. And then, under the condition that the motor designates that the recovered braking torque gradually rises, the opening of the proportional valve is controlled to gradually increase so as to gradually unload the braking fluid in a braking pipeline and reduce the braking torque provided by hydraulic braking.
Example two
Based on the same inventive concept, another embodiment of the present application provides a braking energy recovery control system, including:
the detection module is used for detecting whether the braking torque provided by the motor braking is increased or not under the condition that the motor braking and the hydraulic braking simultaneously provide the braking demand torque required by the braking;
the first torque control module is used for controlling the braking torque provided by the hydraulic brake to gradually decrease under the condition that the braking torque provided by the motor brake increases.
In one possible embodiment, the first torque control module includes:
and the valve control module is used for controlling the opening of the proportional valve to increase according to the braking torque required by the braking of the motor and the braking torque currently provided by the braking of the motor in the process of increasing the braking torque provided by the braking of the motor so as to control the braking torque provided by the hydraulic braking to gradually decrease.
In one possible embodiment, the valve control module includes:
a difference determination module for determining a difference between the braking demand torque and a braking torque currently provided by the motor brake;
the opening determining module is used for determining an opening value to be increased of the proportional valve according to the difference value;
and the opening control module is used for increasing the opening value to be increased on the current opening value of the proportional valve so as to control the opening of the proportional valve to be increased.
In one possible embodiment, the first torque control module further comprises:
and the preset increasing control module is used for controlling the opening of the proportional valve to increase according to a preset increment in the process of increasing the braking torque provided by the motor brake so as to control the braking torque provided by the hydraulic brake to gradually decrease.
In one possible embodiment, the braking energy recovery system further includes:
the pressure detection module is used for detecting the pressure in the brake wheel cylinder 1 and/or the brake pipeline;
and the second torque control module is used for controlling the braking torque provided by the hydraulic braking to gradually decrease when the braking torque provided by the motor braking increases and the pressure is greater than or equal to a preset pressure value.
In one possible embodiment, the braking energy recovery system further includes:
the third torque control module is used for controlling the hydraulic brake to provide the braking torque required by the braking under the condition that the braking torque recovered by the motor brake is smaller than the braking demand torque;
wherein the braking torque provided by the motor brake is derived from the braking torque recovered by the motor brake.
EXAMPLE III
Based on the same inventive concept, a third aspect of the embodiments of the present application provides a valve, where the valve is a proportional valve, two ends of the valve are respectively connected to a brake wheel cylinder and an energy accumulator, and the valve is applied with the braking energy recovery method as provided in the first embodiment.
In the present embodiment, the proportional valve is a hydraulic control device that uses a proportional electromagnet instead of a control portion of an existing on-off valve and that proportionally controls the hydraulic pressure, flow rate, or direction in the wheel cylinder and the brake pipe in a remote manner based on a received continuous signal. Therefore, by adopting the proportional valve provided by the application, the oil pressure in the brake wheel cylinder and the brake pipeline can be proportionally conveyed into the energy accumulator, so that the stability of a driver in the braking process is guaranteed, and the phenomenon of brake jogging caused by suddenly opening the switch valve in the traditional scheme is solved.
For the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and reference may be made to the partial description of the method embodiment for relevant points.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one of skill in the art, embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the true scope of the embodiments of the application.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or terminal equipment comprising the element.
The braking energy recovery control method, the braking energy recovery control system and the braking energy recovery control valve provided by the application are described in detail, specific examples are applied in the description to explain the principle and the implementation of the application, and the description of the examples is only used for helping to understand the method and the core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. A braking energy recovery control method, characterized by comprising:
under the condition that motor braking and hydraulic braking simultaneously provide braking demand torque required by braking, detecting whether the braking torque provided by the motor braking is increased;
and under the condition that the braking torque provided by the motor brake is increased, controlling the braking torque provided by the hydraulic brake to be gradually reduced.
2. The braking energy recovery control method of claim 1, wherein controlling the braking torque provided by the hydraulic braking to gradually decrease with an increase in the braking torque provided by the electric motor braking comprises:
and in the process of increasing the braking torque provided by the motor brake, controlling the opening degree of the proportional valve to increase according to the braking demand torque and the braking torque provided by the motor brake so as to control the braking torque provided by the hydraulic brake to gradually decrease.
3. The braking energy recovery control method of claim 2, wherein controlling the opening of the proportional valve to increase according to the braking torque currently provided by the braking of the motor and the braking demand torque comprises:
determining a difference between the braking demand torque and a braking torque provided by the motor brake;
determining the opening value to be increased of the proportional valve according to the difference value;
and increasing the opening value to be increased on the current opening value of the proportional valve to control the opening of the proportional valve to increase.
4. The braking energy recovery control method of claim 1, wherein controlling the braking torque provided by the hydraulic brake to gradually decrease with an increase in the braking torque provided by the electric motor brake comprises:
and in the process of increasing the braking torque provided by the motor brake, the opening degree of the proportional valve is controlled to be increased according to a preset increment so as to control the braking torque provided by the hydraulic brake to be gradually reduced.
5. The braking energy recovery control method of claim 1, further comprising, before controlling the braking torque provided by the hydraulic brake to gradually decrease in the case where the braking torque provided by the electric motor brake increases, the method further comprising:
detecting the pressure in a brake wheel cylinder and/or a brake pipeline;
and when the braking torque provided by the motor braking is increased and the pressure is greater than or equal to a preset pressure value, controlling the braking torque provided by the hydraulic braking to be gradually reduced.
6. The braking energy recovery control method of claim 1, further comprising, prior to detecting whether the braking torque provided by the braking of the motor increases:
controlling the hydraulic brake to provide a braking torque required for braking under the condition that the braking torque recovered by the motor brake is smaller than the braking demand torque;
wherein the braking torque provided by the motor brake is derived from the braking torque recovered by the motor brake.
7. A braking energy recovery control system, the system comprising:
the detection module is used for detecting whether the braking torque provided by the motor braking is increased or not under the condition that the motor braking and the hydraulic braking simultaneously provide the braking demand torque required by the braking;
the first torque control module is used for controlling the braking torque provided by the hydraulic brake to gradually decrease under the condition that the braking torque provided by the motor brake increases.
8. The braking energy recovery system of claim 7, wherein the first torque control module comprises:
and the valve control module is used for controlling the opening of the proportional valve to increase according to the braking torque required by the braking of the motor and the braking torque currently provided by the braking of the motor in the process of increasing the braking torque provided by the braking of the motor so as to control the braking torque provided by the hydraulic braking to gradually decrease.
9. The braking energy recovery system of claim 8, wherein the valve control module comprises:
a difference determination module for determining a difference between the braking demand torque and a braking torque currently provided by the motor brake;
the opening degree determining module is used for determining the opening degree value to be increased of the proportional valve according to the difference value;
and the opening control module is used for increasing the opening value to be increased on the current opening value of the proportional valve so as to control the opening of the proportional valve to be increased.
10. A valve, characterized in that the valve is a proportional valve, two ends of the valve are respectively connected with a brake wheel cylinder and an accumulator, and the braking energy recovery method as claimed in any one of claims 1 to 6 is applied to the valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110287980.8A CN114559916A (en) | 2021-03-17 | 2021-03-17 | Braking energy recovery control method, system and valve |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110287980.8A CN114559916A (en) | 2021-03-17 | 2021-03-17 | Braking energy recovery control method, system and valve |
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| CN114559916A true CN114559916A (en) | 2022-05-31 |
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| CN202110287980.8A Pending CN114559916A (en) | 2021-03-17 | 2021-03-17 | Braking energy recovery control method, system and valve |
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Application publication date: 20220531 |