CN-121246544-B - Energy recovery control method and related equipment for distributed driving electric automobile

CN121246544BCN 121246544 BCN121246544 BCN 121246544BCN-121246544-B

Abstract

The embodiment of the application provides a distributed driving electric automobile energy recovery control method and related equipment, and belongs to the technical field of vehicle control. The method comprises the steps of carrying out front-rear axle moment distribution according to a vehicle demand total braking moment through a preset distribution rule to obtain a first moment distribution result, carrying out left-right wheel braking moment distribution through a preset distribution algorithm by combining an additional yaw moment of a vehicle to obtain a second moment distribution result, obtaining preset vehicle state data, calculating a first regenerative braking moment proportion through a regenerative braking fuzzy controller, determining a motor control strategy according to driving motor temperature data, adjusting the first regenerative braking moment proportion to obtain a second regenerative braking moment proportion, and further calculating a target braking torque by combining the second moment distribution result to carry out energy recovery braking control. The embodiment of the application can improve the braking energy recovery rate, alleviate the problem of attenuation of the braking capability of the whole vehicle caused by overheat or damage of the motor, and realize the unification of the continuous voyage lifting and the thermal safety of the motor.

Inventors

ZHANG PEI
Gui Ruihao
HU JIE
YAN FUWU
SUN GUOQING
HUANG ZEHAO

Assignees

武汉理工大学

Dates

Publication Date: 20260512
Application Date: 20250928

Claims (10)

1. The energy recovery control method for the distributed driving electric automobile is characterized by comprising the following steps of: Performing front and rear axle torque distribution according to the total braking torque required by the vehicle through a preset distribution rule to obtain a first torque distribution result, wherein the preset distribution rule is determined by a braking intensity parameter; according to the first moment distribution result and the additional yaw moment of the vehicle, the braking moment distribution of the left wheel and the right wheel is carried out through a preset distribution algorithm, and a second moment distribution result is obtained; acquiring preset vehicle state data, and further calculating a first regenerative braking torque ratio through a regenerative braking fuzzy controller according to the preset vehicle state data; Determining a motor control strategy according to the temperature data of the driving motor, and further adjusting the first regenerative braking torque proportion according to the motor control strategy to obtain a second regenerative braking torque proportion; Calculating a target braking torque according to the second torque distribution result and the second regenerative braking torque proportion, wherein the target braking torque comprises a regenerative braking torque and a mechanical braking torque; And performing energy recovery braking control according to the regenerative braking torque and the mechanical braking torque.
2. The method according to claim 1, wherein the step of performing front-rear axle torque distribution according to the total braking torque required by the vehicle through a preset distribution rule to obtain a first torque distribution result comprises: when the vehicle braking intensity data is determined to be smaller than a preset braking intensity threshold value, front and rear axle moment distribution is carried out according to the total braking moment required by the vehicle according to a preset distribution priority level to obtain a first moment distribution result, wherein the preset distribution priority level comprises that the vehicle front axle distribution priority level is higher than the vehicle rear axle distribution priority level; Or when the vehicle braking intensity data is determined to be greater than or equal to the preset braking intensity threshold value, front and rear axle moment distribution is carried out according to the total braking moment required by the vehicle through the I curve proportion, and the first moment distribution result is obtained.
3. The method according to claim 1, wherein the performing left and right wheel braking moment distribution according to the first moment distribution result and the vehicle additional yaw moment through a preset distribution algorithm to obtain a second moment distribution result comprises: Calculating according to a steering wheel angle and a two-degree-of-freedom model of the vehicle to obtain a vehicle expected yaw rate, and further determining the additional yaw moment of the vehicle according to the vehicle expected yaw rate; And carrying out left and right wheel braking moment distribution according to the first moment distribution result and the vehicle additional yaw moment by an average distribution method to obtain the second moment distribution result.
4. The method of claim 1, wherein the obtaining the predetermined vehicle state data, and further calculating, by the regenerative braking fuzzy controller, a first regenerative braking torque ratio according to the predetermined vehicle state data, comprises: acquiring vehicle speed data through a vehicle speed sensor; Acquiring vehicle braking intensity data through an acceleration sensor; acquiring battery SOC data through a battery management system; and determining the first regenerative braking moment proportion according to the vehicle speed data, the vehicle braking intensity data and the battery SOC data through a preset regenerative braking fuzzy rule.
5. The method of claim 1, wherein determining a motor control strategy based on the drive motor temperature data, and further adjusting the first regenerative braking torque ratio based on the motor control strategy to obtain a second regenerative braking torque ratio, comprises: the temperature data of the driving motor are acquired dynamically through a motor temperature sensor; determining a motor working temperature interval according to the driving motor temperature data through preset working temperature interval dividing parameters, wherein the motor working temperature interval comprises a normal working area, an early warning adjusting area, a power limiting protection area and an emergency stop area; And determining a corresponding motor control strategy according to the motor working temperature interval, and correcting the first regenerative braking torque proportion according to the motor control strategy to obtain the second regenerative braking torque proportion.
6. The method of claim 1, wherein said energy recovery braking control based on said regenerative braking torque and said mechanical braking torque comprises: Generating a regenerative braking command according to the regenerative braking torque, and further sending the regenerative braking command to a motor controller to execute regenerative braking; And generating a mechanical braking command according to the mechanical braking torque, and further transmitting the mechanical braking command to a mechanical braking control unit to execute mechanical braking.
7. A distributed drive electric vehicle energy recovery control device, the device comprising: The first module is used for carrying out front and rear axle moment distribution according to the total braking moment required by the vehicle through a preset distribution rule to obtain a first moment distribution result, wherein the preset distribution rule is determined by a braking intensity parameter; The second module is used for carrying out left and right wheel braking moment distribution through a preset distribution algorithm according to the first moment distribution result and the additional yaw moment of the vehicle to obtain a second moment distribution result; The third module is used for acquiring preset vehicle state data and further calculating a first regenerative braking torque proportion through a regenerative braking fuzzy controller according to the preset vehicle state data; a fourth module, configured to determine a motor control strategy according to the driving motor temperature data, and further adjust the first regenerative braking torque ratio according to the motor control strategy, so as to obtain a second regenerative braking torque ratio; The fifth module is used for calculating a target braking torque according to the second torque distribution result and the second regenerative braking torque proportion, wherein the target braking torque comprises a regenerative braking torque and a mechanical braking torque; and a sixth module for performing energy recovery braking control according to the regenerative braking torque and the mechanical braking torque.
8. An electronic device, comprising: At least one processor; at least one memory for storing at least one program; the at least one program, when executed by the at least one processor, causes the at least one processor to implement the method of any one of claims 1 to 6.
9. A computer readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the method of any one of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the method of any one of claims 1 to 6.

Description

Energy recovery control method and related equipment for distributed driving electric automobile Technical Field The application relates to the technical field of vehicle control, in particular to a distributed driving electric automobile energy recovery control method and related equipment. Background With the rapid popularization of new energy automobiles, a brake energy recovery technology has become a key means for improving the energy utilization rate of the whole automobile and prolonging the driving mileage. In the braking process, the driving motor converts the kinetic energy of the vehicle into electric energy through a power generation mode and recovers the electric energy, so that the energy efficiency and the driving mileage of the whole vehicle are obviously improved. In the related art, in the process of pursuing high recovery rate of braking energy, the driving motor needs to work in a power generation mode for a long time or with high strength, copper loss, iron loss and additional loss are greatly increased, so that the temperatures of the motor winding and the magnetic steel are rapidly increased, and particularly under the frequent or forced driving condition, rapid accumulation of the motor temperature is easily caused. This not only results in a decrease in motor output capacity, resulting in a decrease in overall braking effectiveness, but also may cause serious safety hazards such as demagnetization, insulation aging, and even thermal runaway. In summary, the technical problems in the related art are to be improved. Disclosure of Invention The embodiment of the application mainly aims to provide a distributed driving electric automobile energy recovery control method and related equipment, which can effectively improve the braking energy recovery rate, relieve the problem of the attenuation of the braking capacity of the whole automobile caused by overheat or damage of a motor and realize the unification of the cruising promotion and the thermal safety of the motor. In order to achieve the above object, an aspect of an embodiment of the present application provides a method for controlling energy recovery of a distributed driving electric vehicle, the method including: Performing front and rear axle torque distribution according to the total braking torque required by the vehicle through a preset distribution rule to obtain a first torque distribution result, wherein the preset distribution rule is determined by a braking intensity parameter; according to the first moment distribution result and the additional yaw moment of the vehicle, the braking moment distribution of the left wheel and the right wheel is carried out through a preset distribution algorithm, and a second moment distribution result is obtained; acquiring preset vehicle state data, and further calculating a first regenerative braking torque ratio through a regenerative braking fuzzy controller according to the preset vehicle state data; Determining a motor control strategy according to the temperature data of the driving motor, and further adjusting the first regenerative braking torque proportion according to the motor control strategy to obtain a second regenerative braking torque proportion; Calculating a target braking torque according to the second torque distribution result and the second regenerative braking torque proportion, wherein the target braking torque comprises a regenerative braking torque and a mechanical braking torque; And performing energy recovery braking control according to the regenerative braking torque and the mechanical braking torque. In some embodiments, the front and rear axle torque distribution according to the total braking torque required by the vehicle through a preset distribution rule, to obtain a first torque distribution result, includes: when the vehicle braking intensity data is determined to be smaller than a preset braking intensity threshold value, front and rear axle moment distribution is carried out according to the total braking moment required by the vehicle according to a preset distribution priority level to obtain a first moment distribution result, wherein the preset distribution priority level comprises that the vehicle front axle distribution priority level is higher than the vehicle rear axle distribution priority level; Or when the vehicle braking intensity data is determined to be greater than or equal to the preset braking intensity threshold value, front and rear axle moment distribution is carried out according to the total braking moment required by the vehicle through the I curve proportion, and the first moment distribution result is obtained. In some embodiments, the performing left and right wheel braking moment distribution according to the first moment distribution result and the additional yaw moment of the vehicle through a preset distribution algorithm to obtain a second moment distribution result includes: Calculating according to a steering whee