CN100399621C - Remanent electric quantity closed-loop controlling method for vehicle-carried auxiliary power accumulator set - Google Patents

Abstract

The present invention discloses a closed loop control method for the surplus electricity quantity of a vehicle-carrying assistant motor accumulator group, which relates to the control technical field of the surplus electricity quantity of an accumulator group. The closed loop control method mainly comprises that a closed loop controller sets demand output to a hybrid power assembly according to the deviation of an expected value and an observation value of the open circuit voltage of an accumulator in order to adjust the power of the hybrid power assembly; the current of the accumulator and a voltage measure value of the accumulator are outputted to a progressive state observer by the hybrid power assembly through a power accumulator group; the observation value of the open circuit voltage of the accumulator is outputted to the closed loop controller by the progressive state observer on the basis of a dynamic mathematical model of a power accumulator, and closed loop control is carried out through the observation value of the open circuit voltage of the accumulator to realize the adjustment of the surplus electricity quantity of the power accumulator. Compared with the prior art, the present invention has the following beneficial effects that the present invention is not insensitive to an error of an SOC estimate value, a control error of the surplus electricity quantity of the accumulator is small, and a transient control effect is good.

Description

Remanent electric quantity closed-loop controlling method for vehicle-carried auxiliary power accumulator set

Technical field

The present invention relates to the method that a kind of vehicle-carried auxiliary power batteries dump energy is regulated, relate in particular to the method that the vehicle-carried auxiliary power batteries dump energy of mixed power electric car (comprising that fuel cell hybrid car, internal combustion engine hybrid vehicle or other comprise the automobile with two kinds of power sources of vehicle-carried auxiliary power batteries) is regulated.

Background technology

In the face of the energy shortage and the ecological deterioration problem that are on the rise, seek society, economy and resource, environment is mutually promoted and the sustainable development pattern that develops in harmony is becoming worldwide trend.Under this background, the mixed power electric car technology becomes a big focus in automotive research field, it is generally acknowledged: mixed power electric car, be meant and in same automobile, adopted motor and engine simultaneously as its power set, control system by the advanced person cooperates two kinds of power set organic coordinations, the realization optimum capacity distributes, and reaches low energy consumption, the low pollution and supermatic new automobile.At present, there is the mixed power electric car of two kinds of energy combining forms to receive much attention: internal combustion engine hybrid vehicle and fuel cell hybrid car.Wherein, produced in batches and sold, obtained very big success in North America market by the internal combustion engine hybrid vehicle " Prius " that Toyota Company designs and develops; The fuel cell hybrid car of a lot of world-renowned motor corporations development and Design has also entered into the stage of demonstration operation.

Compare with fuel-engined vehicle with electric automobile, mixed power electric car has the comprehensive advantage of high-performance, low energy consumption and oligosaprobic characteristics and aspects such as technology, economy and environment.The mixed power electric car of quovis modo, power accumulator all are indispensable parts in its dynamical system.The main effect of power accumulator is: the power demand (for the internal combustion engine hybrid vehicle) that starting or low speed driving are provided; Responsive load become branch (for fuel cell hybrid car) soon; Provide and quicken or the peak power requirements when running at high speed; The feedback energy of absorption and regeneration braking.Mixed power electric car medium power storage battery does not need external charging, realizes the adjusting of its dump energy by special management of charging and discharging strategy, and this is extremely important in the dynamic Control of mixed power electric car, also is one of difficult point.Especially for the fuel cell hybrid car that is operated under the power following pattern, fuel battery engines is followed the variation of bearing power as far as possible, becomes branch soon in the power accumulator responsive load, and absorbs the feedback braking energy.Therefore fill shallow work characteristics of putting at auxiliary power storage battery in the mixed power electric car is shallow, be the dynamic characteristic that guarantees that it is best, the storage battery dump energy need be controlled in the less fluctuation range, and this is unusual difficulty in realization.

Based on above technical characterictic, present vehicle-mounted power accumulator management system all provides the estimated value of current SOC value (state ofcharge, storage battery state-of-charge or title dump energy).The SOC estimated value that the common at present method that adopts is based on battery management system to be provided is carried out close-loop feedback control, realizes the adjusting of storage battery dump energy with this.But, up to the present, SOC estimation problem for vehicle-mounted power accumulator is not still well solved, and mainly is that SOC estimates to be easy to produce deviation and not enough to the transient changing reflection of storage battery dump energy, and there are the following problems thereby cause actual dump energy adjusting:

A) storage battery real surplus electric weight and desired value are easy to produce deviation;

B) transient control effect is undesirable.

Therefore, present key problem in technology is under current storage battery SOC estimation technique level, how to construct a kind of new control method, thereby can improves the control precision of vehicle-mounted power accumulator dump energy and control effect.

Summary of the invention

At the defective that exists in the above-mentioned prior art, technical problem to be solved by this invention provides a kind of regulating and controlling that can realize vehicle-carried auxiliary power batteries dump energy, and is insensitive and have a remanent electric quantity closed-loop controlling method for vehicle-carried auxiliary power accumulator set of transient control effect preferably to the SOC evaluated error.

In order to solve the problems of the technologies described above, a kind of remanent electric quantity closed-loop controlling method for vehicle-carried auxiliary power accumulator set provided by the present invention is characterized in that, the step of closed loop control method is as follows:

1) imports closed loop controller respectively with the battery open-circuit voltage desired value with from the battery open-circuit voltage measured value of progressive state viewer;

2) closed loop controller exports hybrid power assembly to according to the desired value and the deviation of observed setting command of battery open-circuit voltage, to regulate the power of hybrid power assembly;

3) hybrid power assembly through power accumulator group output battery current and battery voltage measuring value to the progressive state viewer;

4) based on the progressive state viewer of following formula 1,2 described power accumulator dynamic mathematical models tectonic systems output battery open-circuit voltage measured value respectively to the output of closed loop controller and battery management system.

Described power accumulator group has adopted the RC equivalent-circuit model; Wherein, equivalent capacity charge stored amount has been represented the dump energy of batteries, and the energy consumption of equivalent resistance has been represented the energy loss in the batteries charge and discharge process, the dynamic mathematical models of setting up power accumulator according to equivalent-circuit model as shown in the formula:

$\frac{1}{C_0}{\∫}_0^t[-I_b\left(t\right)]\mathrm{dt}+R_o[-I_b\left(t\right)]=U_{\mathrm{bus}}\left(t\right)---1$

$U_b\left(t\right)=\frac{1}{C_0}{\∫}_0^t[-I_b\left(t\right)]\mathrm{dt}---2$

In the formula, I _bBeing battery current, for just, is negative during charging during discharge; R ₀Be equivalent internal resistance; C ₀Be equivalent capacity; Integral

Be battery open-circuit voltage U _bU _BusBe the storage battery output voltage.

Thereby the state space that obtains the power accumulator dynamic mathematical models is expressed as:

$\left\{\begin{array}{c}\stackrel{\·}{x}=\mathrm{Ax}+\mathrm{Bu}\\ y=\mathrm{Cx}+\mathrm{Du}\end{array}---3\right.$

In the formula: state vector: x=[I _bU _b] ^TInput variable: u=I _bOutput variable: y=U _BusSytem matrix is respectively:

$A=\left[\begin{array}{cc}0& 0\\ -\frac{1}{C_0}& 0\end{array}\right]$ $B=\left[\begin{array}{c}0\\ 0\end{array}\right]$ $C=\left[\begin{array}{c}-R_0\\ 1\end{array}\right]$ $D=\left[\begin{array}{cc}0& 0\\ 0& 0\end{array}\right]---4$

At system's ∑ ₀=(A, B, structure progressive state observer on basis C)

, its equation is:

$\stackrel{\·}{\hat{x}}=A\hat{x}+\mathrm{Bu}+G(y-\hat{y})---5$

In the formula,

With

Be respectively the measured value of state variable x and output variable y; G is a feedback gain matrix, and the closed-loop pole position by the configuration status observer obtains feedback gain matrix G, by adjusting the closed-loop system characteristic that the state observation value obtains expecting to the progressive speed of virtual condition.

Utilize remanent electric quantity closed-loop controlling method for vehicle-carried auxiliary power accumulator set provided by the invention, owing to adopted technique scheme, the present invention compared with prior art has following advantage:

1) insensitive to the error of SOC estimated value, thus make the adjusting of storage battery dump energy more accurate;

2) transient control effect is better.

Method proposed by the invention is compared than traditional method, occurs in the SOC estimated value under the situation of deviation, and control deviation reduces 78%, and transient control effect is obviously improved.

Description of drawings

Fig. 1 is the schematic diagram of the RC equivalent-circuit model of the power accumulator that adopts of the present invention;

Fig. 2 is the theory diagram of the storage battery dump energy closed loop control algorithm set up of the present invention.

Embodiment

Below in conjunction with description of drawings embodiments of the invention are described in further detail, but present embodiment is not limited to the present invention, every employing similarity method of the present invention and similar variation thereof all should be listed protection scope of the present invention in.

The present invention sets up the dynamic mathematical models of power accumulator, based on the state observer of this model construction power accumulator open circuit voltage, the measured value of battery open-circuit voltage is carried out the adjusting that closed-loop control realizes dump energy.Be easy to produce deviation for vehicle-mounted power accumulator because of the SOC estimated value, and not enough to the transient state fluctuation reflection of dump energy.Regulate the storage battery dump energy if adopt the SOC estimated value to carry out closed-loop control, then be easy to produce control deviation and dynamically control effect bad.Therefore the present invention does not rely on SOC estimated value control storage battery dump energy, and be based on the progressive state observer of dynamic mathematical models tectonic system, the input of state observer is battery current and battery voltage measuring value, be output as the battery open-circuit voltage measured value, the battery open-circuit voltage measured value is carried out the adjusting that closed-loop control realizes the storage battery dump energy.State observer is estimated storage battery output voltage and open circuit voltage with the system dynamics Mathematical Modeling, with the model estimate value of storage battery output voltage and the deviation of actual measured value the model estimate value of open circuit voltage is proofreaied and correct then, because this correction is carried out in real time, therefore the open circuit voltage measured value can be reacted storage battery real surplus electric weight situation preferably, and can fully reflect the transient changing situation of storage battery dump energy.

As shown in Figure 1, remanent electric quantity closed-loop controlling method for vehicle-carried auxiliary power accumulator set of the present invention has adopted the RC equivalent-circuit model at implementation procedure medium power storage battery.Wherein, equivalent capacity charge stored amount has been represented the dump energy of storage battery, and the energy consumption of equivalent resistance has been represented the energy loss in the accumulator charging/discharging process.In addition, method proposed by the invention is not limited to adopt the RC equivalent-circuit model, when adopting other equivalent-circuit model at different application scenarios and type, stands good.

The dynamic mathematical models of setting up power accumulator according to equivalent-circuit model as shown in the formula:

$\frac{1}{C_0}{\∫}_0^t[-I_b\left(t\right)]\mathrm{dt}+R_o[-I_b\left(t\right)]=U_{\mathrm{bus}}\left(t\right)---1$

$U_b\left(t\right)=\frac{1}{C_0}{\∫}_0^t[-I_b\left(t\right)]\mathrm{dt}---2$

In the formula, I _bBeing battery current, for just, is negative during charging during discharge; R ₀Be equivalent internal resistance; C ₀Be equivalent capacity;

Integral

Be battery open-circuit voltage U _bU _BusBe the storage battery output voltage.

Thereby the state space that obtains the power accumulator dynamic mathematical models is expressed as:

$\left\{\begin{array}{c}\stackrel{\·}{x}=\mathrm{Ax}+\mathrm{Bu}\\ y=\mathrm{Cx}+\mathrm{Du}\end{array}\right.---3$

In the formula: state vector: x=[I _bU _b] ^TInput variable: u=I _bOutput variable: y=U _BusSytem matrix is respectively:

$A=\left[\begin{array}{cc}0& 0\\ -\frac{1}{C_0}& 0\end{array}\right]$ $B=\left[\begin{array}{c}0\\ 0\end{array}\right]$ $C=\left[\begin{array}{c}-R_0\\ 1\end{array}\right]$ $D=\left[\begin{array}{cc}0& 0\\ 0& 0\end{array}\right]---4$

At system's ∑ ₀=(A, B, structure progressive state observer on basis C)

, its equation is:

$\stackrel{\·}{\hat{x}}=A\hat{x}+\mathrm{Bu}+G(y-\hat{y})---5$

In the formula,

With

Be respectively the measured value of state variable x and output variable y.G is a feedback gain matrix, and the closed-loop pole position by the configuration status observer obtains feedback gain matrix G, can adjust the progressive speed of state observation value to virtual condition, thus the closed-loop system characteristic that obtains expecting.State observer be input as battery current and output voltage measured value, be output as the battery open-circuit voltage measured value.

Thereby the battery open-circuit voltage measured value to above-mentioned state observer output is carried out control and the adjusting that closed-loop control can realize the storage battery dump energy.

Fig. 2 is the schematic diagram of closed loop control algorithm, wherein closed loop controller is the core of closed loop control algorithm, it is input as the desired value and the measured value of battery open-circuit voltage, the power setting of regulating hybrid power assembly according to the desired value and the deviation of observed of battery open-circuit voltage instructs, thereby realizes the regulating and controlling of storage battery dump energy.The control performance index of closed loop control algorithm can gain by the adjustment closed loop feedback and regulate, and the closed loop feedback gain is determined by the method that suitable system's closed loop zero POLE PLACEMENT USING and test are mated at different application scenarios.

According to above-mentioned basic control method, application scenario at auxiliary power storage battery in the fuel-cell car sample car, by design processes such as system dynamics modeling, Control Parameter design, simulation analysis, test couplings, the control and the adjusting of storage battery dump energy have been realized.Prove that by the contrast and experiment on the rotary drum experimental bench method proposed by the invention is compared than traditional method, occur in the SOC estimated value under the situation of deviation that control deviation reduces 78%, and transient control effect is obviously improved.

Claims (2)

1. a remanent electric quantity closed-loop controlling method for vehicle-carried auxiliary power accumulator set is characterized in that, the step of closed loop control method is as follows:

1) imports closed loop controller respectively with power accumulator group open circuit voltage desired value with from the power accumulator group open circuit voltage measured value of progressive state viewer;

2) closed loop controller exports hybrid power assembly to according to the desired value and the deviation of observed setting command of power accumulator group open circuit voltage, to regulate the power of hybrid power assembly;

3) hybrid power assembly through power accumulator group outputting power battery current and power accumulator group voltage measuring value to the progressive state viewer;

4) set up power accumulator group dynamic mathematical models based on formula 1,2, the progressive state viewer of tectonic system, outputting power batteries open circuit voltage measured value is respectively to the output of closed loop controller and battery management system; Described formula the 1, the 2nd, the dynamic mathematical models formula of the power accumulator group of setting up according to equivalent-circuit model:

$\frac{1}{C_0}{\∫}_0^t\left[{-I}_b\left(t\right)\right]\mathrm{dt}+R_o\left[{-I}_b\left(t\right)\right]=U_{\mathrm{bus}}\left(t\right)---1$

$U_b\left(t\right)=\frac{1}{C_0}{\∫}_0^t\left[{-I}_b\left(t\right)\right]\mathrm{dt}---2$

In the formula, I _bBeing power accumulator group electric current, for just, is negative during charging during discharge; R ₀Be equivalent internal resistance; C ₀Be equivalent capacity; Integral

Be power accumulator group open circuit voltage U _bU _BusBe power accumulator group output voltage.

2. remanent electric quantity closed-loop controlling method for vehicle-carried auxiliary power accumulator set according to claim 1 is characterized in that, described power accumulator group adopts the RC equivalent-circuit model; Wherein, equivalent capacity charge stored amount is represented the dump energy of power accumulator group, the energy consumption of equivalent resistance is represented the energy loss in the power accumulator group charge and discharge process, sets up the dynamic mathematical models such as the formula 1,2 of power accumulator group according to equivalent-circuit model:

$\frac{1}{C_0}{\∫}_0^t\left[{-I}_b\left(t\right)\right]\mathrm{dt}+R_o\left[{-I}_b\left(t\right)\right]=U_{\mathrm{bus}}\left(t\right)---1$

$U_b\left(t\right)=\frac{1}{C_0}{\∫}_0^t\left[{-I}_b\left(t\right)\right]\mathrm{dt}---2$

In the formula, I _bBeing power accumulator group electric current, for just, is negative during charging during discharge; R ₀Be equivalent internal resistance; C ₀Be equivalent capacity; Integral

Be power accumulator group open circuit voltage U _bU _BusBe power accumulator group output voltage,

Thereby the state space that obtains power accumulator group dynamic mathematical models is expressed as:

$\left\{\begin{array}{c}\stackrel{.}{x}=\mathrm{Ax}+\mathrm{Bu}\\ y=\mathrm{Cx}+\mathrm{Du}\end{array}\right.---3$

In the formula: state vector: x=[I _bU _b] ^TInput variable: u=I _bOutput variable: y=U _BusSytem matrix is respectively:

$A=\left[\begin{array}{cc}0& 0\\ -\frac{1}{C_0}& 0\end{array}\right]$ $B=\left[\begin{array}{c}0\\ 0\end{array}\right]$ $C=\left[\begin{array}{c}{-R}_0\\ 1\end{array}\right]$ $D=\left[\begin{array}{cc}0& 0\\ 0& 0\end{array}\right]---4$

At system's ∑ ₀=(A, B, structure progressive state observer on basis C)

Its equation is:

$\stackrel{\stackrel{\·}{^}}{x}=A\hat{x}+\mathrm{Bu}+G(y-\hat{y})---5$

In the formula,

With

Be respectively the measured value of state variable x and output variable y; G is a feedback gain matrix, and the closed-loop pole position by configuration progressive state observer obtains feedback gain matrix G, by adjusting the closed-loop system characteristic that the state observation value obtains expecting to the progressive speed of virtual condition.

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