CN110532715A - The development platform of electromechanical combined transmission system control strategy - Google Patents
The development platform of electromechanical combined transmission system control strategy Download PDFInfo
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- CN110532715A CN110532715A CN201910830121.1A CN201910830121A CN110532715A CN 110532715 A CN110532715 A CN 110532715A CN 201910830121 A CN201910830121 A CN 201910830121A CN 110532715 A CN110532715 A CN 110532715A
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Abstract
The invention discloses the development platforms of electromechanical combined transmission system control strategy, it is related to composite transmission field.Including engine mockup, machine driven system model, power transmission system model and vehicle Longitudinal Dynamic Model, it is connected between engine mockup, machine driven system model, power transmission system model and vehicle Longitudinal Dynamic Model by physical signal, and control unit and analysis of simulation result module is added.The present invention is able to carry out the exploitation and test of optimal power allocation strategy.
Description
Technical field
The present invention relates to composite transmission fields, and in particular to a kind of electromechanical combined transmission system control strategy
Development platform.
Background technique
In today that energy crisis is got worse, hybrid vehicle is increasingly becoming research focus.Efficiency is as electromechanical multiple
Close the important research content of transmission system vehicle, can for power flow-optimized, design of transmission system and optimal control policy
It formulates and reference is provided.General an integrated transmission system efficiency Model and its Optimized model is established to be of great significance.
The control strategy of electromechanical combined transmission system is a complicated integrated decision-making problem, it includes multi power source
All various aspects such as energy management, the distribution of electric power stream, the switching of operating mode and the coordinated control of dynamic process.This chapter
The Dynamic Simulation Model of electromechanical combined driven vehicle is built based on MATLAB/Simulink software, and the mould of driver
The control algolithm of type, the running environment of vehicle and basis is dissolved into above-mentioned simulation model, they together constitute control strategy
Development platform.
In conclusion the present invention devises a kind of development platform of electromechanical combined transmission system control strategy.
Summary of the invention
In view of the shortcomings of the prior art, object of the present invention is to be to provide a kind of electromechanical combined transmission system control
The development platform of strategy, is able to carry out the exploitation and test of optimal power allocation strategy.
To achieve the goals above, the present invention is to realize by the following technical solutions: electromechanical combined transmission system control
The development platform of strategy is made, including engine mockup, machine driven system model, power transmission system model and vehicle longitudinally move
Mechanical model, between engine mockup, machine driven system model, power transmission system model and vehicle Longitudinal Dynamic Model
It is connected by physical signal, and control unit and analysis of simulation result module is added.
The control unit is the basic module for carrying control strategy, and the input signal of control unit is in actual vehicle
Can collected state variable (pedal opening, the revolving speed of each component, the oil pressure of clutch, voltage of DC bus etc.), it is defeated
Signal is control variable (switch command, the target turn of target torque, two motors and brake of engine of each component out
Square, oil charging-discharging order of clutch etc.).
The engine mockup is divided into torque generation and fuel consumption calculates two parts, the former belongs to the master of engine
Body function, it limits the target torque of engine using external characteristics and braking characteristic, and using first order inertial loop come
Its torque response characteristic is simulated, obtains its actual torque using switch control module, and is applied to by torque actuator defeated
On shaft.The latter belongs to the auxiliary function of engine, is mainly obtained by way of tabling look-up using actual speed and dtc signal
Fuel consumption rate under unit power, and fuel consumption is obtained to time integral.
The machine driven system model is divided into machine driving subsystem and Electric Drive subsystem two large divisions.In
In MTALAB R2001b/Simulink, mechanical organ and electrical component also correspond to different model libraries (respectively
SimDriveline and SimElectronics), they pass through PS-Simulink Converter and Simulink-PS
Converter realizes the conversion of physical signal and digital signal, and mutually transmits information by digital signal.Machine driving
Subsystem includes driving front, rear transmission and planet coupling mechanism (multiple planet rows, clutch, brake).In
Have the mature modules of simple gears, planet row and clutch in SimDriveline, and consider gear engagement loss, from
The Band loss etc. of clutch can satisfy the needs of control strategy emulation.
The power transmission system model includes power battery group model and two motor models, they pass through direct current mother
Line is coupled.From the angle of Control-oriented, power battery pack and two motors have all been carried out at equivalent and simplified
Reason.Wherein, power battery pack is equivalent to the controllable voltage source of internal resistance, and electromotive force and resistance value are all state-of-charge (SOC)
Function, specific mapping relations are obtained by experimental data；Two motors are equivalent to controllable current source, current value by electrical power divided by
Busbar voltage obtains.In addition, electrical equipment is also connected on DC bus, it is also equivalent to controllable current source, function here
Rate value is provided by electricity consumption state of cyclic operation.
The longitudinal movement of the vehicle Longitudinal Dynamic Model concern vehicle.
Beneficial effects of the present invention: the present invention establishes engine, machine driven system, power transmission system and whole respectively
The simulation model of vehicle longitudinal dynamics links together them using physical signal, and control unit and emulation is added
As a result analysis module, just constitutes the development platform of electromechanical combined transmission system control strategy, this development platform is able to carry out
The exploitation and test of optimal power allocation strategy.
Detailed description of the invention
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments；
Fig. 1 is system architecture diagram of the invention；
Fig. 2 is engine torque systematic function module map of the invention；
Fig. 3 is that engine fuel of the invention consumes computing function module map；
Fig. 4 is the simulation model figure of engine of the invention；
Fig. 5 is the simulation model figure of machine driven system of the invention；
Fig. 6 is the simulation model figure of power battery pack of the invention；
Fig. 7 is the torque systematic function module map of motor of the invention；
Fig. 8 is that the energy transformation function of motor of the invention and electric current calculate functional block diagram；
Fig. 9 is the simulation model figure of motor of the invention；
Figure 10 is longitudinal vehicle dynamic model (running resistance systematic function module) figure of the invention；
Figure 11 is the comprehensively control frame diagram of electromechanical combined transmission system of the invention.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Referring to Fig.1, present embodiment uses following technical scheme: the exploitation of electromechanical combined transmission system control strategy
Platform, including engine mockup, machine driven system model, power transmission system model and vehicle Longitudinal Dynamic Model, hair
Believed between Motivation Model, machine driven system model, power transmission system model and vehicle Longitudinal Dynamic Model by physics
Number connection, and control unit and analysis of simulation result module is added.
The needs that present embodiment is emulated according to control strategy carry out integration to engine and its controller and build
Mould, the function of model can be divided into torque generation and fuel consumption calculates two parts, as shown in Figures 2 and 3.The former belongs to
The main functionality of engine, it limits the target torque of engine using external characteristics and braking characteristic, and utilizes single order
Inertial element simulates its torque response characteristic, obtains its actual torque using switch control module, and pass through torque and execute
Device is applied on output shaft.The latter belongs to the auxiliary function of engine, mainly using actual speed and dtc signal by tabling look-up
Form obtain the fuel consumption rate under unit power, and fuel consumption is obtained to time integral.
In addition, if needing to analyze the emission performance of engine, starting characteristic or idling characteristic etc., phase also can establish
The functional module answered.Each functional module of engine be it is relatively independent, mutually transmit letter by emulating signal between them
Breath.As shown in figure 5, the simulation model of engine.
In the simulation model of engine, fully consider that its external characteristics, starting characteristic, fuel consumption characteristics, braking are special
Property, rotary inertia, dynamic deferred and auxiliary system power demand etc., can be than more fully reflecting the practical work of engine
Make feature, substantially meets the needs of control strategy exploitation verifying.In addition, engine mockup has certain versatility, only need
Corresponding characterisitic parameter is inputted by parameter interface, so that it may obtain desired output characteristics.
Electromechanical combined transmission, as its name suggests, it has the function of machine driving and Electric Drive two parts.From structural level
On, electromechanical combined transmission system can also be divided into machine driving subsystem and Electric Drive subsystem two large divisions.In
In MTALAB R2001b/Simulink, mechanical organ and electrical component also correspond to different model libraries (respectively
SimDriveline and SimElectronics), they pass through PS-Simulink Converter and Simulink-PS
Converter realizes the conversion of physical signal and digital signal, and mutually transmits information by digital signal.
Machine driving subsystem includes driving front, rear transmission and planet coupling mechanism (multiple planet rows, clutch, system
Dynamic device).There are the mature modules of simple gears, planet row and clutch in SimDriveline, and considers nibbling for gear
Loss, Band loss of clutch etc. are closed, can satisfy the needs of control strategy emulation.The present invention directly utilizes
SimDriveline model library has built the simulation model of machine driving subsystem, as shown in Figure 5.
Power battery pack and two motors (motor/generator) together constitute power transmission system, they pass through straight
Stream bus is coupled.Here from the angle of Control-oriented, power battery pack and two motors have all been carried out equivalent
It is handled with simplifying.Wherein, power battery pack is equivalent to the controllable voltage source of internal resistance, and electromotive force and resistance value are all state-of-charges
(SOC) function, specific mapping relations are obtained by experimental data；Two motors are equivalent to controllable current source, and current value is by electricity
Power is obtained divided by busbar voltage.In addition, electrical equipment is also connected on DC bus, it is also equivalent to controllable current here
Source, performance number are provided by electricity consumption state of cyclic operation.
(1) power battery group model
In SimElectronics, there are the electricity such as voltage source, current source, variable resistance, voltage sensor, current sensor
The basic module of gas element, the present invention have built the simulation model of power battery pack using these modules, as shown in Figure 6.
Since the open-circuit voltage of power battery pack and internal resistance are all the functions of its SOC, SOC is contained in above-mentioned model
Estimation module.In addition, open-circuit voltage and internal resistance need to design necessary experiment with the change curve of SOC in order to obtain,
Experimental result is as shown in table 1.
The experimental data of 1 power battery pack of table
In order to guarantee the clarity and collectivity of model, packing processing also has been carried out to the model of power battery pack here,
Only need the experimental data in the capacity, initial SOC and table 1 of parameter interface input power battery pack, so that it may obtain
The simulation model of dimension.In addition, Fig. 6 only gives the main functionality of power battery pack, its charge and discharge is calculated if necessary
Auxiliary function module can also be added in cycle-index, service life, fault diagnosis etc..
The simulation model of (2) two motors
Two motors can both work in generating state, can also work in motoring condition, they are to realize electromechanical energy
The critical component of conversion.It can be torque systematic function, energy turn the function division of motor model from the angle of Function Decomposition
Change function and electric current computing function three parts, as shown in Figure 7 and Figure 8.
Fig. 7 is the torque systematic function module of motor, it is similar to the torque generation module of engine.First with highest
Torque curve and minimum torque curve limit its target torque, its torque is then simulated using first order inertial loop and is rung
Characteristic is answered, finally actual torque is applied on output shaft using torque actuator.Due to the maximum torque of motor and minimum turn
Square is all the function of its revolving speed, therefore is mounted with speed probe on the output shaft of motor.
It is energy transformation function module in left side wire frame in Fig. 8, is that electric current calculates functional module in the wire frame of right side.The former
It tables look-up to obtain the inverse (electricity of its transformation efficiency (generating state) or transformation efficiency using the actual speed and dtc signal of motor
Dynamic state), then be multiplied with its mechanical output to obtain electric power；The latter obtains its etc. divided by busbar voltage using electric power
Electric current is imitated, and is applied on DC bus by controllable current source.
Present embodiment pays close attention to the longitudinal movement of vehicle, from the simplicity of model and relevance principle,
The Longitudinal Dynamic Model of vehicle is built, basic structure is as shown in Figure 10: in the kinetic model of Figure 10, only considered
The systematic function of running resistance.If necessary to analyze the steering characteristic of vehicle or calculate its mileage travelled, phase can also be increased
The auxiliary function module answered.Since air drag is the function of speed, speed probe is mounted on transmission shaft, and
The rotary speed information of wheel can externally be exported.
In electromechanical combined transmission system, control problem is that how each component is obtained according to known status information
Control variable, and solution to this problem and approach are referred to as control strategy.Since electromechanical combined transmission system is one
The Mechanical & Electrical Combination System (multiple degrees of freedom, multivariable, nonlinear time-varying, close coupling etc.) of a complexity, control strategy is extremely complex,
It both had included that coordination control strategy of the energy management strategies of multi power source, the allocation strategy of electric power stream, each component etc. is comprehensive
Control strategy is closed, pattern switching control, engine start-up and shut-down control, steering procedure control, braking process control, failure are also included
The control algolithm on the basis such as diagnosis control further comprises engine controller, multi_motor control device, battery controller, electromagnetism
The Component Control Systems such as valve control and assistant system controller.As it can be seen that the control strategy of electromechanical combined transmission system is one
The integrated decision-making problem of a complexity, basic framework are as shown in figure 11.
According to the transmission path of control signal and energy stream, simulation process can be divided into two types: forward simulation
With backward emulation.The former simulates its steering command using the model of driver, and control strategy is recycled to obtain each component
Control command, and then be applied on auto model and obtain the status informations such as actual speed and driving torque；The latter directly utilizes
State of cyclic operation recycles retrospectively calculate to obtain the control command of each component, it does not have the speed and driving torque that are needed
Standby pilot model, thus also can not simulating vehicle actual moving process.
Present embodiment modeling purpose is to provide an emulation platform for control strategy exploitation and verifying.It is built in system
Under the guidance of mould methodology, using modeling principles such as simplicity, clarity and correlations, propose a kind of based on Function Decomposition
Comprehensive modeling method.Wherein, the model decomposition of engine is torque systematic function, fuel oil computing function etc., the model point of motor
Solution is torque systematic function, energy transformation function and electric current computing function etc., and the model of vehicle only accounts for the generation of its resistance
Function.The simulation model of machine driven system and power transmission system is established using MTALAB/Simulink model library, wherein
Power battery pack is equivalent to the controllable voltage source of series resistance, and two motors and electrical equipment are equivalent to controllable current source.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (6)
1. the development platform of electromechanical combined transmission system control strategy, which is characterized in that including engine mockup, mechanical drive train
System model, power transmission system model and vehicle Longitudinal Dynamic Model, engine mockup, machine driven system model, electric power
It is connected between actuation system models and vehicle Longitudinal Dynamic Model by physical signal, and control unit and simulation result is added
Analysis module.
2. the development platform of electromechanical combined transmission system control strategy according to claim 1, which is characterized in that described
Control unit is the basic module for carrying control strategy, and the input signal of control unit is being capable of collected shape in actual vehicle
State variable, output signal are the control variable of each component.
3. the development platform of electromechanical combined transmission system control strategy according to claim 1, which is characterized in that described
Engine mockup is divided into torque generation and fuel consumption calculates two parts, the former belongs to the main functionality of engine, it is utilized
External characteristics and braking characteristic limit the target torque of engine, and its torque response is simulated using first order inertial loop
Characteristic obtains its actual torque using switch control module, and is applied on output shaft by torque actuator；The latter belongs to
The auxiliary function of engine mainly obtains the fuel oil under unit power using actual speed and dtc signal by way of tabling look-up
Consumption rate, and fuel consumption is obtained to time integral.
4. the development platform of electromechanical combined transmission system control strategy according to claim 1, which is characterized in that described
Machine driven system model is divided into machine driving subsystem and Electric Drive subsystem two large divisions；In MTALAB R2001b/
In Simulink, mechanical organ and electrical component also correspond to different model libraries, they pass through PS-Simulink
Converter and Simulink-PS Converter realizes the conversion of physical signal and digital signal, and passes through mathematics
Signal mutually transmits information；Machine driving subsystem includes driving front, rear transmission and planet coupling mechanism；In
Have the mature modules of simple gears, planet row and clutch in SimDriveline, and consider gear engagement loss, from
The Band loss etc. of clutch can satisfy the needs of control strategy emulation.
5. the development platform of electromechanical combined transmission system control strategy according to claim 1, which is characterized in that described
Power transmission system model includes power battery group model and two motor models, they are coupled by DC bus；
From the angle of Control-oriented, all carries out equivalent to power battery pack and two motors and simplified processing；Wherein, power electric
Pond group is equivalent to the controllable voltage source of internal resistance, and electromotive force and resistance value are all the functions of state-of-charge (SOC), and specific mapping is closed
System is obtained by experimental data；Two motors are equivalent to controllable current source, and current value is obtained by electrical power divided by busbar voltage；This
Outside, electrical equipment is also connected on DC bus, is also equivalent to controllable current source here, performance number is by electricity consumption circulation industrial
Condition provides.
6. the development platform of electromechanical combined transmission system control strategy according to claim 1, which is characterized in that described
The longitudinal movement of vehicle Longitudinal Dynamic Model concern vehicle.
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