纯电动轿车制动能量回收系统研究
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摘要
包括纯电动汽车、混合动力电动汽车和燃料电池电动汽车在内的电驱动车辆是当今汽车工业的发展方向，而制动能量回收系统是电驱动车辆的关键技术之一。本文针对电驱动乘用车，分析了制动能量回收技术对液压制动系统的要求，提出了液压制动系统设计方案，建立了兼顾制动能量回收效率和驾驶感觉的制动能量回收控制策略，并通过奇瑞S18纯电动轿车为平台完成了实车试验。
首先，针对电驱动轿车，分析了制动能量回收技术对原车液压制动系统的要求，提出了基于ESP液压阀块的制动能量回收系统方案。
然后，在兼顾制动能量回收效率和驾驶感觉的前提下设计了制动能量回收控制策略，控制策略包括制动力分配策略和制动压力调节算法。此外，为了降低系统成本，本文还对液压制动系统的压力增减过程进行了建模，通过系统的试验验证了所建模型能够满足实车应用的要求。
接着，分析了制动能量回收控制系统的总体思路，提出了制动控制器的相关需求，并对设计的硬件接口、软件接口进行了详细说明，完成了制动控制器的软硬件设计。建立了车辆动力学模型及各零部件模型，最终完成了制动能量回收系统硬件在环试验台。通过硬件在环试验对制动能量回收控制策略进行测试与完善，测试结果表明本文所设计的液压制动系统和制动能量回收控制策略可较高效地实现制动能量回收，驾驶感觉也较好。
再次，以奇瑞S18纯电动轿车为平台，对控制策略进行了实车测试，试验结果表明本文所设计的液压制动系统和制动能量回收控制策略可较高效地实现制动能量回收，驾驶员踏板感觉也较好。
最后，针对ECE工况，进行了制动能量回收对整车续驶里程贡献率的实车试验。
Electic vehicles, including battery electric vehicle, hybrid electric vehicle and fuelcell electric vehicle, are the future of the auto industry, while the regenerative braking isone of the key techniques for Electic vehicles. Based on electic vehicles, therequirements of regenerative braking technique on hydraulic braking system areanalyzed and some solutions are proposed. The regenerative braking control strategy,which takes both brake energy recovery efficiency and drive feeling into consideration,is proposed. The control strategy is tested on Chery S18battery electric vehicle.
Firstly, based on an electic vehicle, the requirements of regenerative braking onbrake system are analyzed,and one solution which is based on ESP hydraulic valves isproposed.
Secondly, the regenerative braking control strategy consisting of brake forcedistribution algorithm and brake pressure regulation algorithm is proposed, and thecontrol strategy compromises between brake energy recovery efficiency and brake pedalfeeling. In order to reduce the cost, brake pressure estimation algorithm is studied, andsystematic experimental verifications are performed.
Then, the general concept of the regenerative brake control system is analyzed,requirements of the brake controller are proposed, and the interfaces of hardware andsoftware of controller are introduced, the brake controller design of software andhardware is completed. Hardware in the loop simulation test bed is constructed. Thecontrol strategy is verified and tested through hardware in the loop simulation. Testresults indicate that the control strategy can achieve high efficiency brake energyrecovery and comfortable drive feeling.
And Then, the control strategy is tested on Chery S18battery electric vehicle. Testresults indicate that the control strategy can achieve a high efficiency of brake energyrecovery and also a comfortable drive feeling.
Finally, aim at ECE driving cycle, a test on contribution rate of regenerative braketo vehicle extending range is finished.
首先，针对电驱动轿车，分析了制动能量回收技术对原车液压制动系统的要求，提出了基于ESP液压阀块的制动能量回收系统方案。
然后，在兼顾制动能量回收效率和驾驶感觉的前提下设计了制动能量回收控制策略，控制策略包括制动力分配策略和制动压力调节算法。此外，为了降低系统成本，本文还对液压制动系统的压力增减过程进行了建模，通过系统的试验验证了所建模型能够满足实车应用的要求。
接着，分析了制动能量回收控制系统的总体思路，提出了制动控制器的相关需求，并对设计的硬件接口、软件接口进行了详细说明，完成了制动控制器的软硬件设计。建立了车辆动力学模型及各零部件模型，最终完成了制动能量回收系统硬件在环试验台。通过硬件在环试验对制动能量回收控制策略进行测试与完善，测试结果表明本文所设计的液压制动系统和制动能量回收控制策略可较高效地实现制动能量回收，驾驶感觉也较好。
再次，以奇瑞S18纯电动轿车为平台，对控制策略进行了实车测试，试验结果表明本文所设计的液压制动系统和制动能量回收控制策略可较高效地实现制动能量回收，驾驶员踏板感觉也较好。
最后，针对ECE工况，进行了制动能量回收对整车续驶里程贡献率的实车试验。
Electic vehicles, including battery electric vehicle, hybrid electric vehicle and fuelcell electric vehicle, are the future of the auto industry, while the regenerative braking isone of the key techniques for Electic vehicles. Based on electic vehicles, therequirements of regenerative braking technique on hydraulic braking system areanalyzed and some solutions are proposed. The regenerative braking control strategy,which takes both brake energy recovery efficiency and drive feeling into consideration,is proposed. The control strategy is tested on Chery S18battery electric vehicle.
Firstly, based on an electic vehicle, the requirements of regenerative braking onbrake system are analyzed,and one solution which is based on ESP hydraulic valves isproposed.
Secondly, the regenerative braking control strategy consisting of brake forcedistribution algorithm and brake pressure regulation algorithm is proposed, and thecontrol strategy compromises between brake energy recovery efficiency and brake pedalfeeling. In order to reduce the cost, brake pressure estimation algorithm is studied, andsystematic experimental verifications are performed.
Then, the general concept of the regenerative brake control system is analyzed,requirements of the brake controller are proposed, and the interfaces of hardware andsoftware of controller are introduced, the brake controller design of software andhardware is completed. Hardware in the loop simulation test bed is constructed. Thecontrol strategy is verified and tested through hardware in the loop simulation. Testresults indicate that the control strategy can achieve high efficiency brake energyrecovery and comfortable drive feeling.
And Then, the control strategy is tested on Chery S18battery electric vehicle. Testresults indicate that the control strategy can achieve a high efficiency of brake energyrecovery and also a comfortable drive feeling.
Finally, aim at ECE driving cycle, a test on contribution rate of regenerative braketo vehicle extending range is finished.
引文
[1]通用汽车.2030城市交通蓝皮书.2010
[2]欧阳明高.新能源汽车发展与汽车产业振兴.群言.2009(4):24
[3]国际能源署.2010世界能源展望.2009
[4]李丹.电网企业布局电动汽车充电站市场的战略意义.中国市场.2010(13):9-13
[5] Mehrdad Ehsani, Yimin Gao, Sebstien E.Gay, et al. Modern Electric, HybridElectric, and Fuel Cell Vehicles.北京：机械工业出版社，2008:103
[6] Kempton Willett, Tomic Jasna, Letendre Steven, et al. Vehicle-to-GridPower: Battery, Hybrid, and Fuel Cell Vehicles as Resources for DistributedElectric Power in California. Institute of Transportation Studies, UC Davis.2007-01-06.2001.
[7] Tony Flick, Justin Morehouse. Securing the Smart Grid. Amsterdam：Elsevier Inc.,2011:1-18
[8]筱飞.雪佛兰VoIt增程型电动车已全面完成批量生产准备.汽车与配件.2010(35):38-40
[9]明轩. Leaf日产纯电动汽车.汽车与配件.2010(13):44-45
[10] http://www.pluginam-erica.org/vehicles
[11]万刚.我国电动汽车已进入产业化阶段.中国科技财富，2010，17：8-11
[12]王亮.混合动力城市客车节能机理的定量分析.[硕士学位论文].吉林：吉林大学，2006
[13]http://en.wikipedia.org/wiki/Toyota_Prius
[14]Hideaki Yaguchi, Takashi Uehara, Kenzo Watanabe, Junji Tokieda,Development of New Hybrid System for Compact Class Vehicles, EVS24,Stavanger, Norway, May13-16,2009
[15]Mehrdad Ehsani, Yimin Gao, Sebstien E.Gay, et al. Modern Electric,Hybrid Electric, and Fuel Cell Vehicles.北京：机械工业出版社，2008:103
[16] Shoei Abe and Masashi Murata, Development of IMA Motor for2006Civic Hybrid, SAE2006,2006-01-1505
[17]http://en.wikipedia.org/wiki/Civic_Hybrid
[18]王兆.国内外ABS标准法规简介.商用汽车，2002，6：57-59
[19]Akihito Kusano.“Brake Pressure Control Device for Automotive Vehicles”,U.S. Patent,2000
[20]Hiroshi Tsunehara, Hideto Murakami, Takaaki Eguchi, et al.“VehicleBrake System”, U.S. Patent,2007
[21]Hyoung Jin Kang.“Regenerative Braking Method for Vehicle HavingElectric Motor”, U.S. Patent,2009
[22]Kazuhiro Tagata, Koji Sakai, Yasushi Aoki, et al.“Vehicle Brake Device”,U.S. Patent,2007
[23]Stefan Drumm.“Brake System for Motor Vehicles”, U.S. Patent,2010
[24]Keigo Ajiro.“Vehicle Brake Controller”, U.S. Patent,2010
[25]Jongsung Kim.“Regenerative Braking Actuator Apparatus”, U.S. Patent,2010
[26] Toyoma Toyohira, Arata Inoue, Kazuyoshi Akutsu, et al.“BrakeApparatus”, U.S. Patent,2010
[27]Guy Thomas Rini.“Hybrid Brake System”, U.S. Patent,2010
[28]KNORR-BREMSE, Product Manual: Trailer EBS TEBS G2.2008
[29]http://trw.com/sub_system/hybrid_systems
[30]Masami Ogura, Yasushi Aoki, The HONDA EV PLUS regenerative brakingsystem, The14th International Electric Vehicle Symposium and Exposition,Orlando, USA,1997
[31]陈庆樟，何仁，商高高，汽车能量再生制动模拟试验台设计，农业机械学报，2008年，第39卷第四期
[32]Sakai A, Sasaki Y, Otomo A. Toyota Braking System for Hybrid Vehiclewith Regenerative System. Journal of the Society of Automotive Engineersof Japan.1998,52(11):33~37
[33]Masako Yamato. Eco-Vehicle Assessment System (Eco-VAS): AComprehensive Environmental impact Assessment System for the EntireDevelopment Process. Toyota Technical Review,2005,54(1):80~85
[34]Yimin Gao. Electronic Braking System of EV and HEV-Integration ofRegenerative Braking, Automatic Braking Force Control And ABS, SAETechnical Paper Series,2001-01-2478:9pp
[35]Hongwei Gao, Yimin Gao, Mehrdad Ehsani. A Neural Network Based SRMDrive Control Strategy for Regenerative Braking in EV and HEV,2001,IEEE:571~575
[36]李蓬，轻度混合动力电动汽车制动能量回收控制策略仿真，硕士学位论文，清华大学，2005
[37]Kevin Kidston, Brendan Conlon.“Electric Vehicle with Regenerative andAnti-lock Braking”, U.S. Patent,1995
[38]Masahiro Matsuura, Koichi Kokubo, Shigeru Saito, et al.“Vehicle BrakeSystem”, U.S. Patent,2009
[39]Aric Schaffer, Michael Schneider.“Regenerative Braking Control Systemand Method”, U.S. Patent,2007
[40]Dale Scott Crombez, Steven Lee Napier.“Vehicle and Method forControlling Regenerative Braking”, U.S. Patent,2004
[41]初亮等.混合动力轿车再生制动与防抱死集成控制系统.中国，发明专利，200710055687.9，2007
[42]陈庆樟，何仁，商高高.基于ABS的汽车能量再生制动集成控制研究.汽车工程.2008，30(4):301-304
[43]杨福广，李贻斌，阮久宏，等.车辆ABS系统的自抗扰控制及其仿真.2009中国控制与决策会议论文集.2009:3393-3396
[44]周磊，罗禹贡，李克强，等.电动汽车回馈制动与防抱死制动集成控制.清华大学学报（自然科学版）.2009，49(5):728-732
[45]陈自强，杨林.混合动力客车智能防抱死刹车控制.汽车安全与节能学报.2010，1(1):40-48
[46]Okan TUR, Ozgur USTUN. An Introduction to Regenerative Braking ofElectric Vehicles as Anti-Lock Braking System. Proceedings of the2007IEEE Intelligent Vehicles Symposium.2007
[47]Takahiro Okano, Shinichiro Sakai, Toshiyuki Uchida, et al. BrakingPerformance Improvement for Hybrid Electric Vehicle Based on ElectricMotor's Quick Torque Response.19th International Electric VehicleSymposium(EVS19),1999
[48]中华人民共和国国家技术监督局，GB7258-2004，中华人民共和国国家标准－机动车运行安全技术条件，北京：中国标准出版社，2004-07-12
[49]夏长高，曾发林，丁华，汽车安全检测技术，北京：化学工业出版社，2006：13~14
[50]中华人民共和国国家技术监督局，GB12676-1999，中华人民共和国国家标准－汽车制动系统结构、性能和试验方法
[51]郭孔辉，刘溧，丁海涛，李玉璇，汽车防抱制动系统的液压特性，吉林工业大学自然科学学报，1999年第4期
[52]彭栋，混合动力汽车制动能量回收与ABS集成控制研究，博士学位论文，上海交通大学，2007
[53]Qingyuan Li, Keith.W.Beyer, Quan Zheng, A Model-Based Brake PressureEstimation Strategy for Traction Control System, SAE2001,2001-01-0595
[54]王和毅，谷正气，汽车轮胎模型研究现状及其发展分析，橡胶工业，2005年第52卷
[2]欧阳明高.新能源汽车发展与汽车产业振兴.群言.2009(4):24
[3]国际能源署.2010世界能源展望.2009
[4]李丹.电网企业布局电动汽车充电站市场的战略意义.中国市场.2010(13):9-13
[5] Mehrdad Ehsani, Yimin Gao, Sebstien E.Gay, et al. Modern Electric, HybridElectric, and Fuel Cell Vehicles.北京：机械工业出版社，2008:103
[6] Kempton Willett, Tomic Jasna, Letendre Steven, et al. Vehicle-to-GridPower: Battery, Hybrid, and Fuel Cell Vehicles as Resources for DistributedElectric Power in California. Institute of Transportation Studies, UC Davis.2007-01-06.2001.
[7] Tony Flick, Justin Morehouse. Securing the Smart Grid. Amsterdam：Elsevier Inc.,2011:1-18
[8]筱飞.雪佛兰VoIt增程型电动车已全面完成批量生产准备.汽车与配件.2010(35):38-40
[9]明轩. Leaf日产纯电动汽车.汽车与配件.2010(13):44-45
[10] http://www.pluginam-erica.org/vehicles
[11]万刚.我国电动汽车已进入产业化阶段.中国科技财富，2010，17：8-11
[12]王亮.混合动力城市客车节能机理的定量分析.[硕士学位论文].吉林：吉林大学，2006
[13]http://en.wikipedia.org/wiki/Toyota_Prius
[14]Hideaki Yaguchi, Takashi Uehara, Kenzo Watanabe, Junji Tokieda,Development of New Hybrid System for Compact Class Vehicles, EVS24,Stavanger, Norway, May13-16,2009
[15]Mehrdad Ehsani, Yimin Gao, Sebstien E.Gay, et al. Modern Electric,Hybrid Electric, and Fuel Cell Vehicles.北京：机械工业出版社，2008:103
[16] Shoei Abe and Masashi Murata, Development of IMA Motor for2006Civic Hybrid, SAE2006,2006-01-1505
[17]http://en.wikipedia.org/wiki/Civic_Hybrid
[18]王兆.国内外ABS标准法规简介.商用汽车，2002，6：57-59
[19]Akihito Kusano.“Brake Pressure Control Device for Automotive Vehicles”,U.S. Patent,2000
[20]Hiroshi Tsunehara, Hideto Murakami, Takaaki Eguchi, et al.“VehicleBrake System”, U.S. Patent,2007
[21]Hyoung Jin Kang.“Regenerative Braking Method for Vehicle HavingElectric Motor”, U.S. Patent,2009
[22]Kazuhiro Tagata, Koji Sakai, Yasushi Aoki, et al.“Vehicle Brake Device”,U.S. Patent,2007
[23]Stefan Drumm.“Brake System for Motor Vehicles”, U.S. Patent,2010
[24]Keigo Ajiro.“Vehicle Brake Controller”, U.S. Patent,2010
[25]Jongsung Kim.“Regenerative Braking Actuator Apparatus”, U.S. Patent,2010
[26] Toyoma Toyohira, Arata Inoue, Kazuyoshi Akutsu, et al.“BrakeApparatus”, U.S. Patent,2010
[27]Guy Thomas Rini.“Hybrid Brake System”, U.S. Patent,2010
[28]KNORR-BREMSE, Product Manual: Trailer EBS TEBS G2.2008
[29]http://trw.com/sub_system/hybrid_systems
[30]Masami Ogura, Yasushi Aoki, The HONDA EV PLUS regenerative brakingsystem, The14th International Electric Vehicle Symposium and Exposition,Orlando, USA,1997
[31]陈庆樟，何仁，商高高，汽车能量再生制动模拟试验台设计，农业机械学报，2008年，第39卷第四期
[32]Sakai A, Sasaki Y, Otomo A. Toyota Braking System for Hybrid Vehiclewith Regenerative System. Journal of the Society of Automotive Engineersof Japan.1998,52(11):33~37
[33]Masako Yamato. Eco-Vehicle Assessment System (Eco-VAS): AComprehensive Environmental impact Assessment System for the EntireDevelopment Process. Toyota Technical Review,2005,54(1):80~85
[34]Yimin Gao. Electronic Braking System of EV and HEV-Integration ofRegenerative Braking, Automatic Braking Force Control And ABS, SAETechnical Paper Series,2001-01-2478:9pp
[35]Hongwei Gao, Yimin Gao, Mehrdad Ehsani. A Neural Network Based SRMDrive Control Strategy for Regenerative Braking in EV and HEV,2001,IEEE:571~575
[36]李蓬，轻度混合动力电动汽车制动能量回收控制策略仿真，硕士学位论文，清华大学，2005
[37]Kevin Kidston, Brendan Conlon.“Electric Vehicle with Regenerative andAnti-lock Braking”, U.S. Patent,1995
[38]Masahiro Matsuura, Koichi Kokubo, Shigeru Saito, et al.“Vehicle BrakeSystem”, U.S. Patent,2009
[39]Aric Schaffer, Michael Schneider.“Regenerative Braking Control Systemand Method”, U.S. Patent,2007
[40]Dale Scott Crombez, Steven Lee Napier.“Vehicle and Method forControlling Regenerative Braking”, U.S. Patent,2004
[41]初亮等.混合动力轿车再生制动与防抱死集成控制系统.中国，发明专利，200710055687.9，2007
[42]陈庆樟，何仁，商高高.基于ABS的汽车能量再生制动集成控制研究.汽车工程.2008，30(4):301-304
[43]杨福广，李贻斌，阮久宏，等.车辆ABS系统的自抗扰控制及其仿真.2009中国控制与决策会议论文集.2009:3393-3396
[44]周磊，罗禹贡，李克强，等.电动汽车回馈制动与防抱死制动集成控制.清华大学学报（自然科学版）.2009，49(5):728-732
[45]陈自强，杨林.混合动力客车智能防抱死刹车控制.汽车安全与节能学报.2010，1(1):40-48
[46]Okan TUR, Ozgur USTUN. An Introduction to Regenerative Braking ofElectric Vehicles as Anti-Lock Braking System. Proceedings of the2007IEEE Intelligent Vehicles Symposium.2007
[47]Takahiro Okano, Shinichiro Sakai, Toshiyuki Uchida, et al. BrakingPerformance Improvement for Hybrid Electric Vehicle Based on ElectricMotor's Quick Torque Response.19th International Electric VehicleSymposium(EVS19),1999
[48]中华人民共和国国家技术监督局，GB7258-2004，中华人民共和国国家标准－机动车运行安全技术条件，北京：中国标准出版社，2004-07-12
[49]夏长高，曾发林，丁华，汽车安全检测技术，北京：化学工业出版社，2006：13~14
[50]中华人民共和国国家技术监督局，GB12676-1999，中华人民共和国国家标准－汽车制动系统结构、性能和试验方法
[51]郭孔辉，刘溧，丁海涛，李玉璇，汽车防抱制动系统的液压特性，吉林工业大学自然科学学报，1999年第4期
[52]彭栋，混合动力汽车制动能量回收与ABS集成控制研究，博士学位论文，上海交通大学，2007
[53]Qingyuan Li, Keith.W.Beyer, Quan Zheng, A Model-Based Brake PressureEstimation Strategy for Traction Control System, SAE2001,2001-01-0595
[54]王和毅，谷正气，汽车轮胎模型研究现状及其发展分析，橡胶工业，2005年第52卷