CN102664440B - Sliding-mode-principle-based rapid charging control method for hybrid energy storage system of electric automobile - Google Patents

Sliding-mode-principle-based rapid charging control method for hybrid energy storage system of electric automobile Download PDF

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CN102664440B
CN102664440B CN201210154643.2A CN201210154643A CN102664440B CN 102664440 B CN102664440 B CN 102664440B CN 201210154643 A CN201210154643 A CN 201210154643A CN 102664440 B CN102664440 B CN 102664440B
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current
ultracapacitor
current transformer
voltage
bus
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CN102664440A (en
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刘方诚
刘进军
张斌
张昊东
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Jiangsu Hanwate Electric Power Technology Co. Ltd.
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Xian Jiaotong University
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Abstract

The invention provides a sliding-mode-principle-based rapid charging control method for a hybrid energy storage system of an electric automobile. The rapid charging control method comprises the steps of firstly, controlling the current of a storage battery to be modulating periodic positive-negative alternating pulse current to realize rapid charging; secondly, absorbing the energy fed back to a direct-current bus when the storage battery is used for discharging by utilizing a supercapacitor so as to prevent the pumping of the voltage of the direct-current bus; and finally, when the storage battery is charged, adjusting the output current of the supercapacitor to realize the control on the storage energy of the supercapacitor and further preventing the voltage of the supercapacitor from exceeding the upper limit born by the device, wherein the influence on the performance of the system caused by the change of the work points is reduced as the control of a controller of the supercapacitor adopts a sliding mode control method. Being known from the simulation result, the sliding-mode-principle-based rapid charging control method can well control the current of the storage battery so as to enable the current to form into positive and negative pulses, and meets the stability of the voltage of the direct-current bus and the control on the terminal voltage of the supercapacitor.

Description

Electric automobile mixed energy storage system control method for quickly charging based on sliding formwork principle
[technical field]
The present invention relates to new forms of energy (electric automobile) technical field, particularly utilize hybrid accumulator to realize the control method of accumulator of electric car positive negative pulse stuffing quick charge.
[background technology]
Since the seventies in last century, the energy and environmental protection become one of focus of world concern gradually.Day by day serious along with the continuous increase of energy resource consumption and problem of environmental pollution, countries in the world are to starting to implement energy-saving and emission-reduction plan targetedly, and wherein how restricting vehicle tail gas becomes that each country is required to be faced and have a problem to be solved substantially.Electric automobile is because of its low emission, and the feature of low noise and getting most of the attention is considered to the best substitute of traditional fuel-engined vehicle.
But at present in the middle of the application and research of electric automobile, have two comparatively obvious 'bottleneck' restrictions the extensively universal of electric automobile: the one, the life-span of storage battery, except the material that continuous improvement battery adopts, among existing research, the mixed energy storage system that multiple energy storage device is used according to its different property combination also can effectively improve the condition of work of storage battery, extends the useful life of storage battery; Another is the charging interval that storage battery is grown, and can affect normally travelling of electric automobile.In the situation that current charging terminal popularity rate is low, have influence on the marketing of electric automobile.
Find by literature search, for the problem that how to shorten the charge in batteries time, researcher realizes quick charge by battery current being controlled to periodically positive negative impulse current.Among initial charger design, adopt additional discharge resistance to realize negative-going pulse.Part Study scheme adopts additional magnetic components and parts to realize energy feedback, raising efficiency, but in large-power occasions situation, the volume and weight of required magnetic element all can affect the overall performance of electric automobile.Also having part Study scheme is to adopt two way convertor to realize energy feedback, under large-power occasions, also there is drawback in this scheme, the energy that is fed back to DC bus can cause DC bus-bar voltage pump liter, and effect is controlled in impact, or even affects the stability of a system.
Below provide the pertinent literature of retrieval:
[1]W.B.BurLen and J.H.Big,U.S.patent No.3597613.
[2]W.B.BdettandR.V.Ladrson,U.S.Patent No.3614583.
[3]C.C.Hua and M.Y.Lin,“A Study of Charging Control of Lead-AcidBattery for Electric Vehicles,”International Symposium on IndustrialElectmnies,lSlE 2000,pp.135-140.
[4]Hsieh,Y.C.;Moo,C.S.;Wu,C.K.;Cheng,J.C.;,"A non-dissipativereflex charging circuit,"Telecommunications Energy Conference,2003.INTELEC'03.The 25th International,vol.,no.,pp.679-683,23-23Oct.2003
[5]Tseng,K.C.;Liang,T.J.;Chen,J.F.;Chang,M.T.,"High frequencypositive/negative pulse charger with power factor correction,"PowerElectronics Specialists Conference,2002.pesc 02.2002IEEE 33rdAnnual,vol.2,no.,pp.671-675vol.2,2002
[6]Cheng,P.H.;Chen,C.L.;,"High efficiency and nondissipative fastcharging strategy，"Electric Power Applications,IEE Proceedings-,vol.150,no.5,pp.539-545,9Sept.2003
[7]Wang,J.B.;Chuang,C.Y，"Design considerations ofmicroprocessor-controlled multiphase battery charger with fast-chargingstrategy，"Electric Power Applications,IET,vol.1,no.2,pp.143-152,March 2007
[summary of the invention]
For defect or the deficiency of above-mentioned existing theory and technical existence, the object of the invention is to propose a kind of electric automobile mixed energy storage system control method for quickly charging based on sliding formwork principle.This control method can not added under the condition of extra means, realize the positive negative pulse stuffing charging for storage battery, amplitude, frequency and the duty ratio of current impulse all can be modulated by battery types, effectively maintain in addition DC bus-bar voltage, the energy that simultaneously can adjust by adjusting the current limit of ultracapacitor ultracapacitor, maintains system stability.
To achieve these goals, the present invention adopts following technical scheme:
The control method of the electric automobile mixed energy storage system quick charge based on sliding formwork principle, is characterized in that, comprises the following steps:
Step 1, according to predefined charge in batteries current waveform profile, controls storage battery converting device with periodicity positive negative impulse current and storage battery is charged, wherein the amplitude of charge in batteries pulse, the duty ratio of charging pulse is D p, for the amplitude of discharge pulse, the duty ratio of discharge pulse is D n;
Step 2, at charging station current transformer control loop, by DC bus-bar voltage reference value with DC bus-bar voltage instantaneous value v dcsubtract each other, send into voltage regulator, obtain the current-order of charging station current transformer
Step 3, by charging station current transformer current-order with charging station current transformer current instantaneous value i stationsubtract each other, difference is sent into current regulator, obtain charging station current transformer control modulating wave, compare and obtain charging station current transformer driving signal with the carrier wave of PWM modulator;
Step 4, at ultracapacitor current transformer control loop, by DC bus-bar voltage reference value with DC bus-bar voltage instantaneous value v dcsubtract each other, obtain difference DELTA v dc, be multiplied by Proportional coefficient K, obtain the electric current loop instruction of super capacitor current transformer the value of Proportional coefficient K is greater than 10;
Step 5, by the instruction of ultracapacitor current transformer electric current loop send into saturation element and carry out amplitude limit, then with ultracapacitor current transformer current instantaneous value i sCsubtract each other, obtain difference DELTA i sC;
Step 6, utilizes the Δ v obtaining among step 4 and step 5 dcwith Δ i sCsum is sent into integration saturation element, calculates the modulation signal M of super capacitor current transformer, and computing formula is as follows:
M=K 1Δv dc+K 2Δi SC+K 3∫(Δv dc+Δi SC)dt （1）
Wherein K 1, K 2, K 3coefficient value be positive number;
Step 7, the terminal voltage v of measurement ultracapacitor sCcarry out stagnant ring logic judgement, according to the terminal voltage v of ultracapacitor sCchange the saturation value of the super capacitor current transformer current reference value among step 5, as the terminal voltage v of ultracapacitor sChigher than the higher limit v of the terminal voltage of ultracapacitor sC_HI, the be set to-i of saturation element lower limit among step 5 sC-set; As the terminal voltage v of ultracapacitor sClower than the lower limit v of the terminal voltage of ultracapacitor sC_LO, the saturation element lower limit among step 5 is set to 0; Wherein need to meet relation:
| i SC - set | > | i batt - × v batt × D P v SC × ( 1 - D P - D N ) | - - - ( 2 )
Among this formula, D prepresent the duty ratio of charging pulse, represent the amplitude of discharge pulse, D nrepresent the duty ratio of discharge pulse, v battaccumulator voltage, v sCit is ultracapacitor terminal voltage.
The present invention further improves and is: for convenience of power measurement and charging, charging station current transformer is unidirectional current transformer, can only be by energy from charging station to electric automobile transmission, and cannot be to feedback charging station feedback energy.
The present invention further improves and is: in step 6, voltage saturation link higher limit is 0, and ultracapacitor current transformer control loop Voltage loop is at DC bus instantaneous voltage v dclower than DC bus-bar voltage reference value time output valve perseverance be 0.
The present invention further improves and is: in step 6, the modulation signal of super capacitor current transformer is generated by formula (1).
M=K 1Δv dc+K 2Δi SC+K 3∫(Δv dc+Δi SC)dt （1）
Compared with prior art, the present invention has following beneficial effect: the invention provides the electric automobile mixed energy storage system control method for quickly charging based on sliding formwork principle, first battery current is controlled to the periodic positive and negative ALT pulse electric current that can modulate and realizes quick charge, next is fed back to the energy of DC bus when utilizing ultracapacitor to be absorbed in battery discharging, prevent DC bus-bar voltage pump liter, finally in the time of charge in batteries, realize the control for ultracapacitor stored energy by the output current that regulates ultracapacitor, in order to avoid the voltage of ultracapacitor exceedes the device tolerance upper limit, wherein adopt sliding-mode control for the control of ultracapacitor controller, reduce the impact of changing operate-point for systematic function.From simulation result, can see, the present invention can control battery current well makes it form positive negative pulse stuffing, and meets the stable of DC bus-bar voltage and the control for ultracapacitor terminal voltage.
[brief description of the drawings]
Fig. 1 is the charging system for electric automobile structure chart based on mixed energy storage system;
Fig. 2 is the control block diagram of charging station current transformer;
Fig. 3 is battery current reference waveform;
Fig. 4 is the control block diagram of storage battery converting device;
Fig. 5 is the stagnant ring logic comparison diagram in ultracapacitor control loop;
Fig. 6 is the control block diagram of ultracapacitor current transformer;
Fig. 7 is DC bus-bar voltage under A operating mode, battery current, the simulation waveform figure of ultracapacitor voltage;
Fig. 8 is DC bus-bar voltage under B operating mode, battery current, the simulation waveform figure of ultracapacitor voltage;
Fig. 9 is DC bus-bar voltage under C operating mode, battery current, the simulation waveform figure of ultracapacitor voltage.
[embodiment]
Below in conjunction with accompanying drawing, the present invention is described in further detail.
With reference to Fig. 1, the charging system for electric automobile based on mixed energy storage system comprises storage battery, ultracapacitor, charging station current transformer, storage battery converting device and ultracapacitor current transformer.Under normal circumstances, in order to facilitate power measurement and charging, charging station current transformer is unidirectional current transformer, can only provide energy to electric automobile and cannot be to charging station feedback energy, what Fig. 2 represented is the control block diagram of charging station current transformer, by DC bus-bar voltage reference value with DC bus-bar voltage instantaneous value v dcsubtract each other, send into voltage regulator, obtain the current-order of charging station current transformer by charging station current transformer current-order with charging station current transformer current instantaneous value i stationsubtract each other, difference is sent into current regulator, obtain charging station current transformer control modulating wave, compare and obtain charging station current transformer driving signal with the carrier wave of PWM modulator.The positive negative pulse stuffing charging current that storage battery adopts is as Fig. 3, and positive pulse is charging pulse, and charging pulse amplitude is the duty ratio of charging pulse is D p, negative pulse is discharge pulse, for the amplitude of discharge pulse, the duty ratio of discharge pulse is D n.The control block diagram of storage battery converting device is as Fig. 4, and storage battery converting device is controlled to the charging current waveform of realizing shown in Fig. 3, and specific implementation step is by the charging current waveform reference value as shown in Figure 3 of storage battery and the transient current i of storage battery battsubtract each other, difference is sent into adjuster, generate storage battery converting device control modulating wave, compare and obtain charging station current transformer driving signal with the carrier wave of PWM modulator.
But in charging process, storage battery need to be to DC bus feedback portion of energy, if this part energy can not be absorbed in time, DC bus-bar voltage will pump liter so, has influence on the stability of system.In order to address this problem, ultracapacitor is controlled absorbs the energy of storage battery to DC bus feedback, maintains the stability of a system.So simultaneously, be no more than in order to limit the energy of ultracapacitor the higher limit can bear, also need to judge for the energy storage state of ultracapacitor, for avoiding the frequent variations of system control structure, adopt as the stagnant ring logic comparison of Fig. 5, as the terminal voltage v of ultracapacitor sChigher than the higher limit v of the terminal voltage of ultracapacitor sC_HI, the be set to-i of saturation element lower limit among step 5 sC-set; As the terminal voltage v of ultracapacitor sClower than the lower limit v of the terminal voltage of ultracapacitor sC_LO, saturation element lower limit is set to 0; Change the amplitude limit value of ultracapacitor discharging current.Thereby among the endergonic process of storage battery, control ultracapacitor current transformer and carry out release portion energy, thereby reach the object of controlling ultracapacitor voltage, concrete control block diagram is as Fig. 6.
Fig. 7, Fig. 8, Fig. 9 is respectively the simulation waveform under three kinds of operating mode A, B, C, and each duty parameter is as follows:
1. for 1.4C, D pbe 0.5, for-1.7C, D nbe 0.1, the cycle is 200ms;
2. for 1.4C, D pbe 0.6, for-2.1C, D nbe 0.15, the cycle is 500ms;
3. for 0.7C, D pbe 0.5, for-1C, D nbe 0.15, the cycle is 500ms;
Wherein the amplitude of charge in batteries pulse, the duty ratio of charging pulse is D p, for the amplitude of discharge pulse, the duty ratio of discharge pulse is D n, C is the capacity that represents storage battery.
The control parameter of analogue system is as follows:
K＝50，K 1＝K 2＝K 3=10;
Can find out from simulation result, no matter be under any operating mode, battery current has been realized the positive negative impulse current charging curve of design in advance, the waveform of having verified this control method can modularity, meanwhile DC bus-bar voltage remains constant, ultracapacitor voltage value has been avoided the impact for the stability of a system within being also limited at certain limit.
The present invention proposes a kind of electric automobile mixed energy storage system control method for quickly charging based on sliding formwork principle, comprises the following steps:
Step 1, according to predefined charge in batteries current waveform profile, controls storage battery converting device with periodicity positive negative impulse current and storage battery is charged, wherein the amplitude of charge in batteries pulse, the duty ratio of charging pulse is D p, for the amplitude of discharge pulse, the duty ratio of discharge pulse is D n;
Step 2, at charging station current transformer control loop, by DC bus-bar voltage reference value with DC bus-bar voltage instantaneous value v dcsubtract each other, send into voltage regulator, obtain the current-order of charging station current transformer
Step 3, by charging station current transformer current-order with charging station current transformer current instantaneous value i stationsubtract each other, difference is sent into current regulator, obtain charging station current transformer control modulating wave, compare and obtain charging station current transformer driving signal with the carrier wave of PWM modulator;
Step 4, at ultracapacitor current transformer control loop, by DC bus-bar voltage reference value with DC bus-bar voltage instantaneous value v dcsubtract each other, obtain difference DELTA v dc, be multiplied by Proportional coefficient K, obtain the electric current loop instruction of super capacitor current transformer the value of Proportional coefficient K should be much larger than 10;
Step 5, by the instruction of ultracapacitor current transformer electric current loop send into saturation element and carry out amplitude limit, then with ultracapacitor current transformer current instantaneous value i sCsubtract each other, obtain difference DELTA i sC;
Step 6, utilizes the Δ v obtaining among step 4 and step 5 dcwith Δ i sCsum is sent into integration saturation element, calculates the modulation signal M of super capacitor current transformer, and computing formula is as follows:
M=K 1Δv dc+K 2Δi SC+K 3∫(Δv dc+Δi SC)dt （1）
Wherein K 1, K 2, K 3coefficient value ratio be 1:1:1;
Step 7, the terminal voltage v of measurement ultracapacitor sCcarry out stagnant ring logic judgement, according to the terminal voltage v of ultracapacitor sCchange the saturation value of the super capacitor current transformer current reference value among step 5, as the terminal voltage v of ultracapacitor sChigher than the higher limit v of the terminal voltage of ultracapacitor sC_HI, the be set to-i of saturation element lower limit among step 5 sC-set; As the terminal voltage v of ultracapacitor sClower than the lower limit v of the terminal voltage of ultracapacitor sC_LO, the saturation element lower limit among step 5 is set to 0; Wherein need to meet relation:
| i SC - set | > | i batt - × v batt × D P v SC × ( 1 - D P - D N ) | - - - ( 2 ) .
Among this formula, D prepresent the duty ratio of charging pulse, represent the amplitude of discharge pulse, D nrepresent the duty ratio of discharge pulse, v battaccumulator voltage, v sCit is ultracapacitor terminal voltage;
In the present invention, provide a kind of electric automobile mixed energy storage system control method for quickly charging based on sliding formwork principle.And utilize MATLAB/Simulink to carry out simulating, verifying to this control method.From the result of emulation, can see, the method can realize accumulator positive negative pulse charging well, and it is constant to maintain DC bus-bar voltage, can also control ultracapacitor voltage, thereby maintain the stability of a system simultaneously.

Claims (3)

1. the electric automobile mixed energy storage system control method for quickly charging based on sliding formwork principle, is characterized in that, comprises the following steps:
Step 1, according to predefined charge in batteries current waveform profile, controls storage battery converting device with periodicity positive negative impulse current and storage battery is charged, wherein the amplitude of charge in batteries pulse, the duty ratio of charging pulse is D p, for the amplitude of discharge pulse, the duty ratio of discharge pulse is D n;
Step 2, at charging station current transformer control loop, by DC bus-bar voltage reference value with DC bus-bar voltage instantaneous value v dcsubtract each other, send into voltage regulator, obtain the current-order of charging station current transformer
Step 3, by charging station current transformer current-order with charging station current transformer current instantaneous value i stationsubtract each other, difference is sent into current regulator, obtain charging station current transformer control modulating wave, compare and obtain charging station current transformer driving signal with the carrier wave of PWM modulator;
Step 4, at ultracapacitor current transformer control loop, by DC bus-bar voltage reference value with DC bus-bar voltage instantaneous value v dcsubtract each other, obtain difference DELTA v dc, be multiplied by Proportional coefficient K, obtain the electric current loop instruction of ultracapacitor current transformer the value of Proportional coefficient K is greater than 10;
Step 5, by the instruction of ultracapacitor current transformer electric current loop send into saturation element and carry out amplitude limit, then with ultracapacitor current transformer current instantaneous value i sCsubtract each other, obtain difference DELTA i sC;
Step 6, utilizes the Δ v obtaining among step 4 and step 5 dcwith Δ i sCsum is sent into integration saturation element, calculates the modulation signal M of ultracapacitor current transformer, and computing formula is as follows:
M = K 1 Δ v dc + K 2 Δ i SC + K 3 ∫ ( Δ v dc + Δ i SC ) dt - - - ( 1 )
Wherein K 1, K 2, K 3coefficient value be positive number;
Step 7, the terminal voltage v of measurement ultracapacitor sCcarry out stagnant ring logic judgement, according to the terminal voltage v of ultracapacitor sCchange the saturation element lower limit among step 5, as the terminal voltage v of ultracapacitor sChigher than the higher limit v of the terminal voltage of ultracapacitor sC_HI, the be set to-i of saturation element lower limit among step 5 sC-set; As the terminal voltage v of ultracapacitor sClower than the lower limit v of the terminal voltage of ultracapacitor sC_LO, the saturation element lower limit among step 5 is set to 0; Wherein need to meet relation:
| i SC - set | > | i batt * × v batt × D p v SC × ( 1 - D P - D N ) | - - - ( 2 )
Among this formula, D prepresent the duty ratio of charging pulse, represent the amplitude of discharge pulse, D nrepresent the duty ratio of discharge pulse, v battaccumulator voltage, v sCit is ultracapacitor terminal voltage.
2. the electric automobile mixed energy storage system control method for quickly charging based on sliding formwork principle according to claim 1, is characterized in that, charging station current transformer is unidirectional current transformer, can only be by energy from charging station to electric automobile transmission, and oppositely feedback.
3. the electric automobile mixed energy storage system control method for quickly charging based on sliding formwork principle according to claim 1, it is characterized in that, in step 6, integration saturation element higher limit is 0, and ultracapacitor current transformer control loop Voltage loop is at DC bus-bar voltage instantaneous value v dclower than DC bus-bar voltage reference value time output valve perseverance be 0.
CN201210154643.2A 2012-05-18 2012-05-18 Sliding-mode-principle-based rapid charging control method for hybrid energy storage system of electric automobile Expired - Fee Related CN102664440B (en)

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