CN108545075B - A kind of planetary parallel-serial hybrid power system layer optimal control method - Google Patents

A kind of planetary parallel-serial hybrid power system layer optimal control method Download PDF

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CN108545075B
CN108545075B CN201810283698.0A CN201810283698A CN108545075B CN 108545075 B CN108545075 B CN 108545075B CN 201810283698 A CN201810283698 A CN 201810283698A CN 108545075 B CN108545075 B CN 108545075B
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efficiency
engine
battery
output
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CN108545075A (en
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曾小华
王越
杨南南
宋大凤
朱丽燕
张学义
黄海瑞
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Jilin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/10—Change speed gearings
    • B60W2510/1035—Input power
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/10—Change speed gearings
    • B60W2510/106—Output power
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0644—Engine speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0666—Engine torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • 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
    • Y02T10/62—Hybrid vehicles
    • 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
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/84—Data processing systems or methods, management, administration

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Hybrid Electric Vehicles (AREA)

Abstract

The present invention provides a kind of planetary parallel-serial hybrid power system layer optimal control method, belong to technical field of new energy, two freedom degrees of planetary hybrid power system are converted two control dimensions by this method, thus a kind of hierarchy optimization framework is designed, the optimal of bottom control is realized using instantaneous self correlation strategy, the optimal of top layer control is realized using the global optimization strategy of single dimension, to reduce optimization cost, amount of calculation is reduced, the efficiency of optimization algorithm is promoted.

Description

A kind of planetary parallel-serial hybrid power system layer optimal control method
Technical field
The present invention provides a kind of planetary parallel-serial hybrid power system layer optimal control method, belongs to new-energy automobile skill Art field.
Background technique
The optimization energy management strategies of hybrid vehicle can be divided into instantaneous self correlation strategy and area-wide optimal control Tactful two classes.Instantaneous self correlation strategy is only with the minimum optimization aim of system comprehensive energy consumption at current time, it cannot be guaranteed that being The comprehensive energy consumption united in entire driving cycle is minimum.Area-wide optimal control strategy is with the minimum control of comprehensive energy consumption under full working scope Target processed can obtain the globally optimal solution of system.However, global optimization approach has huge operand, time cost is high, especially It is when optimizing dimension raising, and computational load will be increased exponentially, be easily trapped into dimension disaster.In contrast, instantaneously most Excellent control strategy has lesser computational load, is easily guaranteed that its real-time.There are two freely for planetary hybrid power system tool Degree directly will face huge operand using global optimization approach, be unfavorable for the implementation of optimization algorithm.
Summary of the invention
Drawbacks described above can be overcome the object of the present invention is to provide a kind of, under the premise of guaranteeing to obtain system optimization solution, energy It is effectively reduced calculation amount, the planetary parallel-serial hybrid power system layer optimal control method of boosting algorithm efficiency, in technology Hold are as follows:
The first step, the analysis of planetary hybrid power system efficiency characteristic: by planetary hybrid power system be divided into engine, Transmission system two parts, the working efficiency of engine usually utilizes its fuel consumption rate to define, as follows:
In formula (1): C is diesel oil calorific value, beFor the fuel consumption rate (g/kWh) of engine,
The transmission efficiency of planetary hybrid power system is the ratio between transmission system output power and input power, according to battery The different situations of charge and discharge obtain the transmission efficiency of system:
In formula (2): PoFor transmission system output power, PbatFor cell output, PeFor engine output,
Transmission system efficiency is influenced by mechanical points, under the premise of ignoring each component working efficiency, available motor Relationship between the electrical power and engine output of MG1:
In formula (3): PgFor the output power of motor MG1, TeFor engine output torque, ωeRevolving speed is exported for engine, It enablesδ is defined as the power dividing factor of system, then the electrical power of motor MG1 and engine output can tables It is shown as:
Pg=Pe(1-δ) (4)
In formula: 1- δ characterizes the ratio that electrical power in system accounts for engine output, under the premise of electric quantity balancing, As δ=1, engine output is all exported via mechanical path, at this time as mechanical points of system；And δ < 1 represents machine Working condition before tool point, motor MG1 power generation, MG2 electric discharge；δ > 1 represents the working condition after mechanical points, and motor MG1 is electronic, MG2 power generation, consider that mechanical points are forward and backward and charging, discharging electric batteries situation to the influence of transmission efficiency after, available different situations Under system broad sense transmission efficiency:
In formula (5): ηgAnd ηmThe respectively working efficiency of motor MG1 and MG2, ηr1And ηr2Respectively forward and backward planet row Mechanical efficiency, γ=Pbat/Pe, indicate ratio of the power of battery relative to engine power；
Second step, planetary hybrid power system optimal control variable dimension are decomposed: by formula (5), drive system efficiency is removed Outside being influenced by two motor working efficiencies and machinery driving efficiency, again with respect to separation factor δ's and power of battery ratio γ Function, transmission efficiency are the function about separation factor again, and therefore, engine fuel injection rate may finally be expressed as speed, system The relational expression of output power, the power of battery and separation factor:
By formula (6), system output power PoIt is determined with speed v, then the energy management plan of planetary hybrid power system Slightly in optimization problem, control variable includes power of battery PbatWith two dimensions of separation factor δ；
Third step, with separation factor be control variable instantaneous self correlation: determining system output power, speed and Under the power of battery, with separation factor δ be control variable, with system overall efficiency it is optimal for control target instantaneous self correlation, Determine the corresponding engine working point of optimal system overall efficiency；
4th step is to control the global optimization control of variable with the power of battery: on the basis of instantaneous self correlation, with electricity Pond power PbatTo control variable, with the global optimization control of the minimum control target of vehicle fuel consumption, that is, full working scope is determined Under engine power and the power of battery optimize allocation strategy.
Compared with prior art, the present invention having the beneficial effect that:
Two freedom degrees of planetary hybrid power system are converted two control dimensions by this method, thus designs one kind Hierarchy optimization framework realizes the optimal of bottom control using instantaneous self correlation strategy, utilizes the global optimization strategy of single dimension It realizes the optimal of top layer control, to reduce the cost for directly applying global optimization approach, reduces amount of calculation, promote optimization The efficiency of planetary hybrid power system system optimizing control.
Detailed description of the invention
Fig. 1 is planetary parallel-serial hybrid power system configuration schematic diagram of the invention.
Fig. 2 is flow chart of the method for the present invention.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings: the planetary parallel-serial hybrid power system configuration letter of the present invention Figure, as shown in Figure 1, hierarchy optimization control method process as shown in Fig. 2, specifically:
The first step, the analysis of planetary hybrid power system efficiency characteristic: by planetary hybrid power system be divided into engine, Transmission system two parts, the working efficiency of engine usually utilizes its fuel consumption rate to define, as follows:
In formula (1): C is diesel oil calorific value, beFor the fuel consumption rate (g/kWh) of engine,
The transmission efficiency of planetary hybrid power system is the ratio between transmission system output power and input power, according to battery The different situations of charge and discharge obtain the transmission efficiency of system:
In formula (2): PoFor transmission system output power, PbatFor cell output, PeFor engine output,
Transmission system efficiency is influenced by mechanical points, under the premise of ignoring each component working efficiency, available motor Relationship between the electrical power and engine output of MG1:
In formula (3): PgFor the output power of motor MG1, TeFor engine output torque, ωeRevolving speed is exported for engine, It enablesδ is defined as the power dividing factor of system, then the electrical power of motor MG1 and engine output can tables It is shown as:
Pg=Pe(1-δ) (4)
In formula: 1- δ characterizes the ratio that electrical power in system accounts for engine output, under the premise of electric quantity balancing, As δ=1, engine output is all exported via mechanical path, at this time as mechanical points of system；And δ < 1 represents machine Working condition before tool point, motor MG1 power generation, MG2 electric discharge；δ > 1 represents the working condition after mechanical points, and motor MG1 is electronic, MG2 power generation, consider that mechanical points are forward and backward and charging, discharging electric batteries situation to the influence of transmission efficiency after, available different situations Under system broad sense transmission efficiency:
In formula (5): ηgAnd ηmThe respectively working efficiency of motor MG1 and MG2, ηr1And ηr2Respectively forward and backward planet row Mechanical efficiency, γ=Pbat/Pe, indicate ratio of the power of battery relative to engine power；
Second step, planetary hybrid power system optimal control variable dimension are decomposed: by formula (5), drive system efficiency is removed Outside being influenced by two motor working efficiencies and machinery driving efficiency, again with respect to separation factor δ's and power of battery ratio γ Function, transmission efficiency are the function about separation factor again, and therefore, engine fuel injection rate may finally be expressed as speed, system The relational expression of output power, the power of battery and separation factor:
By formula (6), system output power PoIt is determined with speed v, then the energy management plan of planetary hybrid power system Slightly in optimization problem, control variable includes power of battery PbatWith two dimensions of separation factor δ；
Third step, with separation factor be control variable instantaneous self correlation: determining system output power, speed and Under the power of battery, with separation factor δ be control variable, with system overall efficiency it is optimal for control target instantaneous self correlation, Determine that the corresponding engine working point of optimal system overall efficiency, optimization object function can indicate are as follows:
Jins=min [Be] (7)
Wherein, x=[v, Po,Pbat], it is system mode；U=δ can be obtained to control variable based on instantaneous optimization algorithm Optimal separation factor under to different speeds, system output power and the power of battery；
4th step, with the power of battery be control variable global optimization control: be on the basis of instantaneous self correlation, with Power of battery PbatTo control variable, with the global optimization control of the minimum control target of vehicle fuel consumption, planetary mixing The Global Optimal Problem of dynamical system can state are as follows:
In formula (1), J (u (t)) is the cost function of system, for hybrid power system, can be expressed as in full working scope every The integral of one moment instantaneous cost L (x (t), u (t), t), in addition the penalty G (x (t based on final statef)), it is as follows:
Using the principle of optimality of Dynamic Programming (DP) algorithm, optimizing is iterated to calculate backward, and system can be obtained and fired with vehicle The globally optimal solution of the minimum control target of oilconsumption, so that it is determined that engine power and power of battery optimization under full working scope Allocation strategy.

Claims (1)

1. a kind of planetary parallel-serial hybrid power system layer optimal control method, it is characterised in that:
Planetary hybrid power system efficiency characteristic analysis: planetary hybrid power system is divided into engine, transmission by the first step The working efficiency of system two parts, engine is as follows:
In formula (1): C is diesel oil calorific value, beFor the fuel consumption rate (g/kWh) of engine,
The transmission efficiency of planetary hybrid power system is the ratio between transmission system output power and input power, filled according to battery, The different situations of electric discharge obtain the transmission efficiency of system:
In formula (2): PoFor transmission system output power, PbatFor cell output, PeFor engine output,
Transmission system efficiency is influenced by mechanical points, under the premise of ignoring each component working efficiency, available motor MG1's Relationship between electrical power and engine output:
In formula (3): PgFor the output power of motor MG1, TeFor engine output torque, ωeRevolving speed, ω are exported for enginer1For The revolving speed of preceding planet toothrow circle enablesδ is defined as the power dividing factor of system, then the electrical power of motor MG1 It may be expressed as: with engine output
Pg=Pe(1-δ) (4)
In formula: 1- δ characterizes the ratio that electrical power in system accounts for engine output, under the premise of electric quantity balancing, when δ= When 1, engine output is all exported via mechanical path, at this time as mechanical points of system；And before δ < 1 represents mechanical points Working condition, motor MG1 power generation, MG2 electric discharge；δ > 1 represents the working condition after mechanical points, and motor MG1 is electronic, MG2 power generation, Consider that mechanical points are forward and backward and charging, discharging electric batteries situation to the influence of transmission efficiency after, the system under available different situations Broad sense transmission efficiency:
In formula (5): ηgAnd ηmThe respectively working efficiency of motor MG1 and MG2, ηr1And ηr2The machinery of respectively forward and backward planet row Efficiency, γ=Pbat/Pe, indicate ratio of the power of battery relative to engine power；
Second step, planetary hybrid power system optimal control variable dimension are decomposed: by formula (5), drive system efficiency remove by Outside the influence of two motor working efficiencies and machinery driving efficiency, again with respect to the function of separation factor δ and power of battery ratio γ, Transmission efficiency is the function about separation factor again, and therefore, engine fuel injection rate may finally be expressed as speed, system output work The relational expression of rate, the power of battery and separation factor:
By formula (6), system output power PoIt is determined with speed v, then the energy management strategies of planetary hybrid power system optimize In problem, control variable includes power of battery PbatWith two dimensions of separation factor δ；
Third step is the instantaneous self correlation for controlling variable with separation factor: in determining system output power, speed and battery It is control variable with separation factor δ under power, with the optimal instantaneous self correlation for control target of system overall efficiency, determines The corresponding engine working point of optimal system overall efficiency；
4th step is to control the global optimization control of variable with the power of battery: on the basis of instantaneous self correlation, with battery function Rate PbatTo control variable, with the global optimization control of the minimum control target of vehicle fuel consumption, that is, determine under full working scope Engine power and the power of battery optimize allocation strategy.
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CN102947514A (en) * 2010-06-23 2013-02-27 卡特彼勒公司 Control system having load-adjusted economy mode
CN105246748A (en) * 2013-05-31 2016-01-13 丰田自动车株式会社 Hybrid vehicle control device
CN104589998A (en) * 2015-01-23 2015-05-06 吉林大学 Four-drive oil-electricity hybrid power system
CN104742898A (en) * 2015-04-12 2015-07-01 北京理工大学 Input split type hybrid power flow control method

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