CN101590850B - Power forward control method of crawler-type hybrid electric vehicle - Google Patents

Power forward control method of crawler-type hybrid electric vehicle Download PDF

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Publication number
CN101590850B
CN101590850B CN2008101166155A CN200810116615A CN101590850B CN 101590850 B CN101590850 B CN 101590850B CN 2008101166155 A CN2008101166155 A CN 2008101166155A CN 200810116615 A CN200810116615 A CN 200810116615A CN 101590850 B CN101590850 B CN 101590850B
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power
engine
electric motor
energy storage
storage equipment
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CN101590850A (en
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邹渊
孙逢春
张承宁
吴静波
李军求
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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    • 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

Abstract

The invention relates to a power control method of a crawler-type hybrid electric vehicle, in particular to crawlers which adopt hybrid power supply of an engine-generator set and power batteries and also adopt two electric motors to drive the driving wheels at two sides respectively. The invention provides a method for coordinately controlling the output power of the engine and the power batteries according to the accelerator pedal signals, engine speed and speed signals of electric motors at two sides in order to effectively utilize the power provided by the engine-generator set and power batteries. The method comprises the following steps: determining the power required by vehicles and the power which can be provided by the engine-generator set, obtaining the power required by the power batteries, determining the target output current of the batteries according to the mode of batteries and bus voltage and realizing the output of the required power by controlling the magnitude of current of a direct current converter; The method further comprises the following steps: when judging that the power required by the vehicles is greater than the sum of the power provided by the engine-generator set and power batteries, restricting the power output of the driving motors at two sides to be the sum of the power provided by the engine-generator set and power batteries.

Description

A kind of Poewr control method of crawler-type hybrid electric vehicle
Technical field
The present invention relates to a kind of crawler-type hybrid electric vehicle, especially adopt Engine-Generator group and power battery pack hybrid power supply that power promptly is provided and adopt two electrical motors to drive the continuously tracked vehicle of both sides driving wheel respectively.Especially, the present invention relates to Engine-Generator group and power battery pack horsepower output carried out the method for co-operative control according to acceleration pedal signal and engine speed, two-side motor tach signal.
Background technology
Along with the progress of science and technology, the development of technology such as device for high-power power electronic is very fast, and the application advantage of electric tramsmission technology on continuously tracked vehicle is more obvious.Adopt the continuously tracked vehicle of electric tramsmission technology to possess Engine-Generator group, power battery pack and electrical motor simultaneously; Need be through the co-operative control of a plurality of power parts being realized dynamic property and the economy that car load goes, so the Poewr control method of hybrid track-laying vehicle or strategy are very crucial problems.
Traditional be applied to the power part on the wheeled motor vehicle driven by mixed power; Though the coordinating power control like Engine-Generator group, power battery pack and electrical motor has had certain development; But because the difference of the essence of the traveling gear of continuously tracked vehicle and wheeled car, make directly Poewr control method from the wheeled car of hybrid power be applied directly on the continuously tracked vehicle earlier particularly difficultly.
Below in the file 1; Disclosing a kind of crawler-type hybrid electric vehicle adopts Engine-Generator group and power battery pack that electric energy is provided; The output electric energy that power battery pack is controlled, two electrical motors are converted into mechanical energy to electric energy, realize vehicle ' through driving both sides driving wheel and crawler belt respectively; Then, confirm the control method of several kinds of mode of operations of Engine-Generator group and power battery pack according to different operating conditions and driving demand.But in the file 1 and unresolved about the Engine-Generator group that power is provided and the power of electric motor control problem of power battery pack and consumed power.Also unexposed Poewr control method to crawler-type hybrid electric vehicle in other prior art is so that continuously tracked vehicle has high tractive performance and economic performance.
File 1: publication number: CN1944139A.
Summary of the invention
To the deficiency of prior art, the invention discloses a kind of double-motor that is applicable to and drive Poewr control method driving wheel, crawler-type hybrid electric vehicle of both sides crawler belt respectively.Each unit status and the traveling state of vehicle of the comprehensive vehicle of power control unit; Reasonable distribution driving power between Engine-Generator group and power battery pack; Make these two energy sources of Engine-Generator group and power battery pack all in high efficient area work; Thereby make vehicle under the prerequisite that guarantees dynamic property, improve the life-span that recycles of fuel economy, prolongation electrokinetic cell.
The invention provides a kind of Poewr control method of crawler-type hybrid electric vehicle; The bilateral crawler belt of said crawler-type hybrid electric vehicle is respectively by electric motor I and electric motor I I individual drive; Said vehicle has the power output part that is made up of jointly Engine-Generator group and energy storage equipment; Wherein, Engine driven generators and constitute said Engine-Generator group, said control method are realized to said electric motor I and electric motor I I the control of power being provided from said power output part, and said control method has following steps:
A. confirm vehicle needs power, said vehicle needs power is the object run power sum of electric motor I and electric motor I I;
B. confirm Engine-Generator group maximum output power;
C. confirm the energy storage equipment maximum output power;
D. the object run power sum of electric motor I and electric motor I I and present engine-generator set maximum output power and energy storage equipment maximum output power sum are compared, get the smaller as vehicle needs power;
Said vehicle also has power control unit, and this power control unit realizes providing to said electric motor I and electric motor I I from said power output part the control of power:
Said power control unit has memory cell; It stores the best fuel oil consumption curve of said Engine-Generator group; Said step b also comprises the actual speed of measuring driving engine, and said Engine-Generator group maximum output power is in the pairing engine power value of said best the above actual speed of fuel oil consumption curve.
Preferably, also comprise the step of the rotating speed of target of confirming driving engine, with the value of vehicle needs power on the best fuel oil consumption curve of Engine-Generator group cooresponding engine speed as the rotating speed of target of driving engine.
Preferably; If vehicle needs power not at the cooresponding power range of best fuel oil consumption curve of Engine-Generator group, is then got on the best fuel oil consumption curve of Engine-Generator group the pairing engine speed of power with vehicle needs power closest point of approach as the engine target rotating speed.
Preferably, also comprise the step of the target output of confirming energy storage equipment, the target output of energy storage equipment equals the difference of vehicle needs power and Engine-Generator group maximum output power;
Also be included in energy storage equipment and carry out power when output, if the energy storage equipment maximum output power less than the target output of energy storage equipment, then is reset to the energy storage equipment maximum output power target output of energy storage equipment.
Preferably, said energy storage equipment is battery pack, electric capacity or both combinations;
Said vehicle also comprises voltage changer, and said energy storage equipment is connected on electric motor I and the electric motor I I through this voltage changer;
Said voltage changer can with the change of voltage of energy storage equipment be applied on electric motor I and the electric motor I I;
Said voltage changer is a DC voltage converter;
Said vehicle also comprises rectifier, and its AC rectification that is used for the output of Engine-Generator group is a direct current (DC), and above-mentioned direct current (DC) is outputed on electric motor I and the electric motor I I;
The target output of energy storage equipment is divided by the target outgoing current of rectifier output voltage acquisition energy storage equipment, and said DC voltage converter also has control unit, and this control unit is controlled the outgoing current of energy storage equipment.
The Poewr control method of continuously tracked vehicle is: total demand power of at first confirming electric motor I and electric motor I I is a vehicle needs power; Confirm Engine-Generator group maximum output power and energy storage equipment maximum output power sum then; When above-mentioned power sum during greater than vehicle needs power; The demand power of vehicle is reset to above-mentioned power sum, promptly with the demand power of vehicle be the basis control method of carrying out,
This method comprises confirms that it is maximum output power that vehicle needs power and Engine-Generator group can provide power; The battery pack that gains impetus then target output is confirmed the power battery pack outgoing current and is realized this power output through the control to the DC converter magnitude of current according to battery pack state and bus voltage.
This method comprises also that when judging vehicle needs power greater than Engine-Generator group and power battery pack maximum output power sum restriction both sides drive motor power is output as Engine-Generator group and power battery pack maximum power sum.When the horsepower output of judging power battery pack during greater than the peak power under the current power battery pack state, the horsepower output of restricted power battery pack makes it be not more than peak power.
Description of drawings
Accompanying drawing 1 is a kind of scheme drawing of using crawler-type hybrid electric vehicle of the present invention and control system thereof,
Accompanying drawing 2 is for describing control flow chart of the present invention.
Among the figure:
The 1-acceleration pedal, 2-power control unit, 3-side speed reducer and driving wheel I, 4-driving motor I; 5-driving motor I control unit, 6-driving motor II control unit, 7-driving motor II, 8-side speed reducer and driving wheel II; The 9-power battery pack, 10-DC converter, 11-DC converter control unit, 12-dc bus; 13 Engine-Generator groups, 13a-rectifier, 14-control unit of engine, 15-CAN communication bus.
The specific embodiment
Below in conjunction with the accompanying drawing and the specific embodiment the present invention is further described.
Fig. 1 is the constructional drawing that is applied to the crawler-type hybrid electric vehicle of Poewr control method of the present invention.This structure has been done further improvement to the vehicle structure of the file in the background technology of the present invention 1.Crawler-type hybrid electric vehicle, it has the crawler belt that is positioned at the vehicle both sides, and the crawler belt of both sides is all driven by a driving wheel separately; Electric motor I 4 and electric motor I I7 are arranged in the both sides of vehicle, and wherein, electric motor I 4 is arranged in the left side of vehicle; Electric motor I I7 is arranged in the right side of vehicle; Above-mentioned motor can arrange in such a way that also electric motor I 4 is arranged in the right side of vehicle, and electric motor I I7 is arranged in the left side of vehicle; But for clearer description embodiment of the present invention, in the record below, unified regulation electric motor I 4 is arranged in the left side of vehicle, and electric motor I I7 is arranged in the right side of vehicle.
Electric motor I 4 is connected to the driving wheel in left side through physical construction; And then driving left track; Electric motor I I7 is connected to the driving wheel on right side through physical construction; And then driving the right side crawler belt, above-mentioned physical construction can be side speed reducer, but also can omit above-mentioned side speed reducer according to the performance of electrical motor; The driving wheel in above-mentioned left side be attached thereto the retarder that connects and constitute side speed reducer and driving wheel 1 in the accompanying drawing 1 jointly, the driving wheel on right side be attached thereto the retarder that connects and constitute side speed reducer and driving wheel 2 jointly.
This vehicle also has power output part, and it is used for electric motor I I7 electric energy being provided to electric motor I 4 is power.
This power output part is made up of two parts:
Wherein a part has driving engine, and and engine mechanical bonded assembly electrical generator, driving engine and electrical generator constitute Engine-Generator group 13 jointly;
Another part is made up of energy storage equipment, and preferably, this energy storage equipment is made up of battery pack especially power battery pack 9.
Generally, power battery pack output DC, Engine-Generator group 13 output ACs; Engine-Generator also is connected with rectifier 13a for 13 groups; Its AC rectification that is used for 13 outputs of Engine-Generator group is a direct current (DC), so that be in parallel with power battery pack 9, under this bonded assembly situation; Engine-Generator 13 constitutes Engine-Generator-rectifier assembly jointly with rectifier 13a; Dc bus 12 is connected on electric motor I 4 and the electric motor I I7, and being used for provides power to electric motor I 4 with electric motor I I7, and power battery pack 9 and Engine-Generator-rectifier assembly is connected on the dc bus 12 jointly; Under this connection structure, when the electric energy of power battery pack 9 hangs down, charge to power battery pack 9 through Engine-Generator-rectifier assembly.
In order to control the output voltage of power battery pack 9; Power battery pack 9 is connected on the dc bus 12 through DC converter 10; Under this connection structure, what the output voltage of power battery pack 9 was controlled is connected with electric motor I I7 with electric motor I 4, and is complementary with Engine-Generator-rectifier assembly 13 simultaneously; Thereby can under the situation in the service life of protecting power battery pack 9, to power battery pack 9 power be provided more efficiently.
DC converter 10 is preferably DC voltage converter.
Above-mentioned driving engine also has control unit of engine 14; Electric motor I 4 also has electric motor I controller 5; Electric motor I I7 also has electric motor I I controller 6; DC converter 10 has DC converter control unit 11; This vehicle also has power control unit 2; Power control unit 2 receives the signal from acceleration pedal 1, DC converter control unit 11, control unit of engine 14, controller 5 and controller 6, the transformer ratio of motor speed, engine speed, the pedal anglec of rotation, DC converter etc. for example, and power control unit 2 also transmits control signal to DC converter control unit 11, control unit of engine 14, controller 5 and controller 6; For example electrical motor rotating speed of target, electrical motor target torque, electrical motor target power, engine target rotating speed, engine target power, engine target torque, DC converter target transformation ratio etc., the transmission of above-mentioned transmission and received signal can be through 15 transmission of CAN communication bus.
Power control unit 14; Having with CPU is the microprocessor of core, and it also has memory cell, in this memory cell; Store the minimum fuel oil consumption curve of Engine-Generator group; Its storage mode does, at first the corresponding relation of the horsepower output of engine speed on the minimum fuel oil consumption curve of Engine-Generator group and Engine-Generator group set up data bank, so with this database storing in memory device; The minimum fuel oil consumption curve of Engine-Generator group can obtain through the research technique of routine; On minimum fuel oil consumption curve; The corresponding relation of horsepower output with rotating speed and Engine-Generator group of driving engine; The acquisition mode of minimum fuel oil consumption curve is not described in detail at this not within scope of the present invention; Memory cell also stores the output parameter corresponding relation of electrical generator, on this corresponding relation, has under the rotating speed of different driving engines; The corresponding change curve of the output voltage of electrical generator and electric current; Preferably, because generator output voltage and electric current pass through rectifier 13a rectification, thereby; Above-mentioned corresponding change curve can be converted into the electric current of rectifier output and the corresponding change curve of voltage; Promptly, both can obtain under different engine speed the corresponding change curve of the outgoing current of rectifier and voltage through conventional test and method of calculating.
Power control unit 2, driving motor I4 control unit 5, driving motor II7 control unit 6 and control unit of engine 14, DC converter control unit 11 are preferably the control setup based on microprocessor commonly known in the art.Power control unit 2 receives the angle position from acceleration pedal 1 through traditional electric signal, receives the speed feedback signal of driving motor I4 control unit 5, driving motor II7 control unit 6, control unit of engine 14 through CAN communication bus 15.
Acceleration pedal 1 is controlled through the running of 2 pairs of driving engines of power control unit, and its control signal transmits through communication bus 15.
Generally; Rectifier can greater efficiency the alternating current with Engine-Generator output be converted into direct current (DC), for the description embodiments of the invention of more removing, ignore the conversion loss of rectifier 13a; The conversion efficiency that is rectifier is 100%; Thereby the power that Engine-Generator group 13 provides on dc bus through rectifier 13a equals the power that Engine-Generator group 13 provides, at any one time promptly; If the power that Engine-Generator group 13 provides is W, the power that then Engine-Generator-the rectifier assembly provides also is W; But those skilled in the art can know; Under practical situations; Those skilled in the art are easy to draw the conversion efficiency of rectifier 13a under different usage conditions through the research technique of routine; And then the power that provides through Engine-Generator group 13 obtains the power that Engine-Generator-the rectifier assembly provides; Therefore; In the description to the Poewr control method of continuously tracked vehicle, the power that the Engine-Generator group among the embodiment is provided replaces with the power that Engine-Generator-the rectifier assembly provides below, or the power that the power of Engine-Generator group output replaces with Engine-Generator-rectifier assembly output is also fallen within the description scope of present embodiment.
Accompanying drawing 2 is for describing control program diagram of circuit of the present invention.
In step 20; The actual speed of electric motor I and electric motor I I is sent to power control unit 2 through CAN communication bus 15; Power control unit 2 multiplies each other with the object run torque of two motors respectively according to the actual speed of two motors and obtains the object run power of electric motor I and electric motor I I, and power control unit sends to driving motor I control unit 5 and driving motor II control unit 6 with electric motor I and electric motor I I object run power through CAN communication bus 15 then; The object run torque separately of electric motor I and electric motor I I can obtain according to the input information of vehicle operation environment and chaufeur; For example utilize the position of the anglec of rotation and the bearing circle of acceleration pedal to confirm the object run torque of electric motor I and electric motor I I; But it confirms that mode is a content well known to those skilled in the art; It within scope of the present invention, is not described in detail at this.The object run power of electric motor I and electric motor I I and as vehicle needs power.
In step 21; Power control unit 2 has memory cell; It stores the minimum fuel oil consumption curve of Engine-Generator group; Cooresponding engine speed is as the engine target rotating speed on the best fuel oil consumption curve of Engine-Generator for the value of vehicle needs power, and power control unit 2 sends to control unit of engine 14 with this rotating speed of target through CAN communication bus 15.If vehicle needs power not at the cooresponding power range of the best fuel oil consumption curve of Engine-Generator, then get on the best fuel oil consumption curve of Engine-Generator with the pairing rotating speed in vehicle needs power closest point of approach as the engine target rotating speed.
In step 22, measure engine speed, press under the actual engine speed on Engine-Generator the best fuel oil consumption curve cooresponding engine power as the maximum output power of Engine-Generator.
In step 23, with the difference of vehicle needs power and Engine-Generator group maximum output power as the power battery pack target output.
In step 24, confirm the maximum output power under the battery pack current state according to the method for known counting cell state-of-charge.
In step 25, the maximum power under power battery pack target output and the power battery pack current state is compared, get the smaller as the power battery pack target output.The power battery pack target output obtains battery pack target outgoing current divided by dc bus 12 voltages.The DC converter control unit adopts known control method that the power battery pack outgoing current is controlled to realize that electrokinetic cell carries out power output by demand power.
In step 26; The object run power sum of electric motor I and electric motor I I and the maximum running power of present engine-generator set are compared with power battery pack maximum running power sum, get the object run power sum of smaller as electric motor I and electric motor I I.

Claims (5)

1. the Poewr control method of a crawler-type hybrid electric vehicle; The bilateral crawler belt of said crawler-type hybrid electric vehicle is respectively by electric motor I and electric motor I I individual drive; Said vehicle has the power output part that is made up of jointly Engine-Generator group and energy storage equipment; Wherein, Engine driven generators and constitute said Engine-Generator group, said control method are realized to said electric motor I and electric motor I I the control of power being provided from said power output part, and said control method has following steps:
A. confirm vehicle needs power, said vehicle needs power is the object run power sum of electric motor I and electric motor I I;
B. confirm Engine-Generator group maximum output power;
C. confirm the energy storage equipment maximum output power;
D. the object run power sum of electric motor I and electric motor I I and present engine-generator set maximum output power and energy storage equipment maximum output power sum are compared, get the smaller as vehicle needs power;
Said vehicle also has power control unit, and this power control unit realizes providing to said electric motor I and electric motor I I from said power output part the control of power:
Said power control unit has memory cell; It stores the best fuel oil consumption curve of said Engine-Generator group; Said step b also comprises the actual speed of measuring driving engine, and said Engine-Generator group maximum output power is in the pairing engine power value of said best the above actual speed of fuel oil consumption curve.
2. the method for claim 1, wherein:
The step that also comprises the rotating speed of target of confirming driving engine, with the value of vehicle needs power on the best fuel oil consumption curve of Engine-Generator group cooresponding engine speed as the rotating speed of target of driving engine.
3. method as claimed in claim 2, wherein:
If vehicle needs power not at the cooresponding power range of best fuel oil consumption curve of Engine-Generator group, is then got on the best fuel oil consumption curve of Engine-Generator group the pairing engine speed of power with vehicle needs power closest point of approach as the engine target rotating speed.
4. the method for claim 1, wherein:
Also comprise the step of the target output of confirming energy storage equipment, the target output of energy storage equipment equals the difference of vehicle needs power and Engine-Generator group maximum output power;
Also be included in energy storage equipment and carry out power when output, if the energy storage equipment maximum output power less than the target output of energy storage equipment, then is reset to the energy storage equipment maximum output power target output of energy storage equipment.
5. the method for claim 1, wherein:
Said energy storage equipment is battery pack, electric capacity or both combinations;
Said vehicle also comprises voltage changer, and said energy storage equipment is connected on electric motor I and the electric motor I I through this voltage changer;
Said voltage changer can with the change of voltage of energy storage equipment be applied on electric motor I and the electric motor I I;
Said voltage changer is a DC voltage converter;
Said vehicle also comprises rectifier, and its AC rectification that is used for the output of Engine-Generator group is a direct current (DC), and above-mentioned direct current (DC) is outputed on electric motor I and the electric motor I I;
The target output of energy storage equipment is divided by the target outgoing current of rectifier output voltage acquisition energy storage equipment, and said DC voltage converter also has control unit, and this control unit is controlled the outgoing current of energy storage equipment.
CN2008101166155A 2008-07-14 2008-07-14 Power forward control method of crawler-type hybrid electric vehicle Active CN101590850B (en)

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US8565949B2 (en) * 2010-09-14 2013-10-22 GM Global Technology Operations LLC Method of controlling a hybrid powertrain to ensure battery power and torque reserve for an engine start and hybrid powertrain with control system
JP5815737B2 (en) * 2010-12-27 2015-11-17 ボルボ コンストラクション イクイップメント アーベー Power control apparatus and method according to load of hybrid excavator
US9114803B2 (en) * 2011-02-03 2015-08-25 Suzuki Motor Corporation Drive control apparatus for providing drive control to a hybrid electric vehicle, and hybrid electric vehicle
CN102427247A (en) * 2011-10-24 2012-04-25 三一电气有限责任公司 Wind power generation field power adjusting system and adjusting method thereof
CN103507857B (en) * 2013-07-23 2015-08-26 北京理工大学 Double-motor coupled mode electromechanical compound transmission device of tracked vehicle
KR101755798B1 (en) * 2015-06-30 2017-07-07 현대자동차주식회사 Device and method for controlling battery charge and discharge quantity in eco-friendly vehicle
CN111319474B (en) * 2018-12-12 2022-01-28 中车唐山机车车辆有限公司 Transmission control system of internal combustion vehicle

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