CN104742898A - Input split type hybrid power flow control method - Google Patents

Input split type hybrid power flow control method Download PDF

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Publication number
CN104742898A
CN104742898A CN201510171300.0A CN201510171300A CN104742898A CN 104742898 A CN104742898 A CN 104742898A CN 201510171300 A CN201510171300 A CN 201510171300A CN 104742898 A CN104742898 A CN 104742898A
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power
torque
speed
engine
driving
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王伟达
韩立金
项昌乐
马越
刘辉
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W20/00Control systems specially adapted for hybrid vehicles
    • B60W20/10Controlling the power contribution of each of the prime movers to meet required power demand
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08Conjoint 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/06Combustion engines, Gas turbines
    • B60W2710/0644Engine speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/08Electric propulsion units
    • B60W2710/083Torque
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/10Internal combustion engine [ICE] based vehicles
    • Y02T10/40Engine management systems
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/62Hybrid vehicles

Abstract

The invention discloses an input split type hybrid power flow control method and relates to the technical field of vehicle hybrid power. The method comprises, based on the input split type rotating speed and rotating torque coupling relationship, enabling an engine to be in a rotating speed control mode, and a generator and an electromotor to be in a rotating torque control mode; starting from the target power of a battery pack and a driving required power and based on an optimal fuel economy working curve, determining the working points of the engine, the generator and the electromotor, and meanwhile, ensuring the balance between electric quantity and power of batteries. According to the input split type hybrid power flow control method, firstly, the driving required power and the target power of the battery pack are determined, so that under the premise of ensuring vehicle dynamic performance, the regulating manner of the generator and every electromotor can be determined according to the characteristics of a input split type hybrid power system and accordingly the working points of every power unit can be adjusted flexibly, and further the fuel economy can be enhanced; through power flow control, the power and the electric quantity of the batteries can be in a reasonable state, over-charging or over-discharging of the batteries can be avoided, the system performance can be improved and the service life of the batteries can be prolonged.

Description

A kind of point of speed remittance square formula hybrid power power flow control method
Technical field
What the present invention relates to is vehicle hybrid technical field, is specifically related to a kind of point of speed remittance square formula hybrid power power flow control method.
Background technology
Energy-saving and environmental protection and safety are three large themes of current development of automobile; Closely during the last ten years, people are trying to explore the research and development of novel energy-saving environment-friendly automobile, and pure electric automobile (EV), hybrid vehicle (HEV) and fuel cell powered vehicle (FCEV) become the focus of research; Due to the restriction of battery technology, pure electric automobile continual mileage is short, all difficult requirement meeting people in the short time in price and in-use performance; Though fuel cell electric vehicle prospect is good, also there is technology and Cost Problems; So the oil-electric vehicle developed based on mature technology obtains increasingly extensive research and apply;
Hybrid power comprises the various structures such as series, parallel, series-parallel connection pattern, makes driving engine and motor collaborative work, be operated in optimum efficiency state separately by control technology, thus improve pure ICE-powered efficiency low, pollute the problem such as heavily; Control policy is the key realizing hybrid power system performance, and the quality of its performance directly affects the important performances such as the power performance and the economy performance of vehicle; Lot of domestic and foreign researcher for hybrid power system control policy carried out extensively with deep research, some famous Automobile Enterprises, as Toyota, Honda, Ford, the hybrid power control system developed for batch manufacturing vehicle such as general; Famous colleges and universities and the car production business tie-ups such as domestic Tsing-Hua University, Jilin University, Tongji University, Shanghai Communications University, University Of Chongqing, have studied multiple hybrid-power system control method, what have develops controller and is carrying out real train test; These control methods are mainly for light-duty passenger-car, and hybrid form is mainly tandem and parallel, and the series parallel type research for heavy-duty vehicle is at the early-stage; Point speed remittance square formula that this patent relates to is a kind of form of series parallel hybrid power, and its power flow control method that its version determines and other control methods also have difference; Divide speed remittance square formula hybrid power to carry out power dividing by epicyclic transmission mechanism, be divided into mechanical horsepower stream and electric power stream by generator engine power; At power input, the rotating speed of driving engine and electrical generator (electric power passage), gear ring (mechanical horsepower passage) meets rotating speed coupled relation, and torque meets the proportionate relationship that planetary mechanism determines, so be called point fast; At mouth, electric power driving motor works, electrical motor Driving Torque and mechanical transfer torque superposition, and motor speed is equal with mechanical output shaft, so be called remittance square; Speed is divided to converge square formula hybrid power flow of power schematic diagram as shown in Figure 1.
Because a point speed remittance square formula hybrid power exists rotating speed and torque multiple coupling relation, so driving engine, electrical generator and electrical motor equipower parts can have multiple different master mode to combine, corresponding poower flow coupling and control also can be different; The present invention will provide a kind of effective point of speed remittance square formula power flow control method.
Summary of the invention
For the deficiency that prior art exists, the present invention seeks to be to provide a kind of point of speed remittance square formula hybrid power power flow control method, effectively can regulate driving engine, electrical generator and electrical motor mode of operation, both having ensure that the certainty of electromechanical component state in turn ensure that the alerting ability of status adjustment, having improved Fuel Economy when ensureing that driving power meets driving demand.
To achieve these goals, the present invention realizes by the following technical solutions: a kind of point of speed remittance square formula hybrid power power flow control method, comprises the following steps: (1) determines the master mode of driving engine, electrical generator and electrical motor; For point rotating speed of speed remittance square formula and a torque coupling relation, driving engine adopts rotating speed control mode, and electrical generator and electrical motor adopt torque control model; Divide speed remittance square formula hybrid power system output shaft to be connected with wheel with rear driving device by change-speed box below, so output shaft rotating speed and the speed of a motor vehicle have fixing proportionate relationship, planetary mechanism gear ring rotating speed can be determined; Under the pattern that engine governed speed controls, the rotating speed of driving engine and electrical generator is also all determined, and by adjustment engine speed regulator generator rotating speed; During electrical generator employing torque control model, according to the torque proportionate relationship of planetary mechanism, motor torque and gear ring torque can be determined; Electrical motor and output shaft carry out torque superposition and carry out power-assisted; Under such control framework, the mode of operation of driving engine, electrical generator and electrical motor is all determined, and can carry out adjustment freely, to meet many-sided requirement such as power performance and fuel economy;
(2) power division and the duty point (rotating speed and torque) of power component is determined; Flow process is determined in power division and operation point, and concrete steps are described as follows:
The first step: first power flow control method completes vehicular drive demand power and torque calculation according to chaufeur Das Gaspedal, according to battery state and driving demand power determination battery pack target power, determine engine target power according to driving demand power, battery target power and ancillary system power etc.;
Second step: from engine power and fuel-economy sexual demand, according to rotating speed of target and the torque of engine optimum fuel economy working curve determination driving engine;
3rd step: the torque proportionate relationship determined based on planetary mechanism, according to engine target torque determination electrical generator target torque, is delivered to the torque of gear ring after also can calculating engine power shunting;
4th step: according to the difference determination electrical motor target torque driving demand torque and driving engine to be diverted to gear ring torque; According to power balance equation, the electrical motor determined thus and the difference of generator power must equal battery pack target power.
In the first step of described step (2), chaufeur accelerator pedal position and vehicle speed signal are collected by sensor, according to certain driving intention model, accelerator pedal position are converted to demand power signal; Demand torque is divided by by demand power and vehicle wheel rotational speed corresponding to the speed of a motor vehicle and is obtained.
In the first step of described step (2), battery voltage, temperature and state-of-charge (SOC) are provided by sensor or respective algorithms model, according to these battery status values and with reference to car load driving demand, determine battery pack target power, battery pack may be charged, may discharge.
In the second step of described step (2), engine optimum fuel economy curve obtains according to Engine Universal Characteristics test data.
In 3rd step of described step (2) and the calculating of the 4th step, relevant torque calculation must consider that the exact efficiency model of each power transimission parts calculates, and not so power flow control result has larger deviation by with anticipated value.
Beneficial effect of the present invention: when point speed converges square formula hybrid power system rotating speed and torque multiple coupling, utilize the coupled relation of system to carry out decoupling zero to control methods on a control level, avoided by the regulation and control model (referring to rotating speed or direct torque) that setting driving engine, electrical generator are different with electrical motor and control to interfere; Meanwhile, this control method makes each power component operation point be in state adjustable flexibly, thus can carry out power flow control from Fuel Economy, ensures the power performance and the economy performance of vehicle; Take into account battery electric quantity stability requirement when carrying out power flow control, determined engine power and power division from battery target power, ensured electric power balance, prevented from over-charging of battery or cross putting, improve system performance and battery life.
Accompanying drawing explanation
The present invention is described in detail below in conjunction with the drawings and specific embodiments;
Fig. 1 is of the present invention point of speed remittance square formula hybrid power power flow diagram;
Fig. 2 is power flow control method flow diagram of the present invention;
Fig. 3 is that certain type of the present invention divides speed remittance square formula mixed power system structure sketch;
Fig. 4 is engine optimum fuel economy working curve diagram of the present invention.
Detailed description of the invention
The technological means realized for making the present invention, creation characteristic, reaching object and effect is easy to understand, below in conjunction with detailed description of the invention, setting forth the present invention further;
With reference to Fig. 1-4, this detailed description of the invention by the following technical solutions: a kind of point of speed converges square formula hybrid power power flow control method, comprises the following steps: (1) determines the master mode of driving engine, electrical generator and electrical motor; For point rotating speed of speed remittance square formula and a torque coupling relation, driving engine adopts rotating speed control mode, and electrical generator and electrical motor adopt torque control model; Divide speed remittance square formula hybrid power system output shaft to be connected with wheel with rear driving device by change-speed box below, so output shaft rotating speed and the speed of a motor vehicle have fixing proportionate relationship, the planetary mechanism gear ring rotating speed namely shown in Fig. 1 can be determined; Under the pattern that engine governed speed controls, the rotating speed of driving engine and electrical generator is also all determined, and by adjustment engine speed regulator generator rotating speed; During electrical generator employing torque control model, according to the torque proportionate relationship of planetary mechanism, motor torque and gear ring torque can be determined; Electrical motor and output shaft carry out torque superposition and carry out power-assisted; Under such control framework, the mode of operation of driving engine, electrical generator and electrical motor is all determined, and can carry out adjustment freely, to meet many-sided requirement such as power performance and fuel economy;
(2) power division and the duty point (rotating speed and torque) of power component is determined; Power division and operation point determine that flow process as shown in Figure 2.
Embodiment 1: hybrid power system as shown in Figure 3, the one in the present invention divides speed remittance square formula hybrid power power flow control method implementation step as follows:
1) demand power is driven to calculate
During actual steering vehicle, the driving power demand of vehicle is determined by the degree of chaufeur bend the throttle, i.e. accelerator travel value completely; Adopt linear model to describe the relation of demand power and pedal stroke, model expression is
P N=Ax (1)
Wherein, P nfor demand power; A is hybrid power system rating horsepower, and its value is determined by the vehicle tractive characteristic designed; X is accelerator travel, represents with the percentum accounting for total kilometrage;
Demand torque can be calculated, namely according to driving demand power and current vehicle speed
T N=P N/(v/r) (2)
Wherein, T nfor driving demand torque; V is current vehicle speed; R is Rolling radius of driving wheel;
2) battery requirements power calculation
According to battery status information determination battery target power, namely
P B_N=αU(SOC 0-SOC t) (3)
In formula, P b_Nfor battery requirements power, SOC tfor the real-time SOC value of battery, SOC 0for battery target SOC value, U is battery pack terminal voltage, and α is power of battery coefficient, according to dynamic conditioning such as battery SOC, temperature, car load driving demands;
The power of battery is just, represents that battery has charge power demand; Be negative, represent that battery has discharge power demand;
3) engine working point is determined
Driving engine is the final source of car load driving-energy, thus drive demand power, the power of battery, ancillary system demand power finally all need to be provided by engine power, engine power according to driving demand power, battery target power calculation, namely
P e_N=P D_N+P B_N+P Aux_N(4)
In formula, P e_Nfor engine demand power, P aux_Nfor ancillary system power, mainly comprise lubrication and cooling system power, car load electrical controller electric power etc., estimated to obtain by design horse power when carrying out design calculation according to ancillary system power demand;
Engine working point carries out tabling look-up obtaining according to engine optimum working curve, namely obtains the engine speed n that specific engine power is corresponding ewith torque T e; Engine optimum working curve is determined according to the minimum fuel oil consumption region in Engine Universal Characteristics; Engine optimum working curve as shown in Figure 4;
4) generator operation point is determined
In series-parallel hybrid electric system, electrical generator is one of load of driving engine, and according to the restriction relation of power coupling arrangements, generator torque and motor torque meet fixing proportionate relationship, so the torque of electrical generator target operation is
T g=T ei fη e_g/(1+K) (5)
Wherein, T gfor the torque of electrical generator demand; i ffor system driving front ratio; η e_gfor driving engine is to the driving efficiency of electrical generator; K is planetary mechanism characteristic parameter;
Because driving engine and electrical motor at a time have fixing tachometer value, so the working speed of electrical generator is determined by the planetary mechanism rotating speed restriction relation in power coupling arrangements;
5) electrical motor operation point is determined
Electrical motor operation torque determines at the component of power coupling arrangements output shaft jointly by driving demand torque and engine output torque; Namely
T m=T N/i r/i TrT-T e_axis(6)
Wherein, T mfor motor requirement torque; i rfor rear transmitting ratio; i tfor current shift transmitting ratio; η rfor rear driving efficiency; η tfor transmission efficiency; T e_axisfor the component of engine output torque on output shaft;
T e_axisdetermined by power coupling arrangements with the relation of driving engine, generator torque, its value is
T e_axis=T ei fη e_axisK/(1+K) (7)
Electrical motor and wheel have fixing mechanical connection, so its working speed is determined by current vehicle speed.
More than show and describe groundwork of the present invention, principal character and advantage of the present invention; The technical personnel of the industry should be understood, the present invention is not restricted to the described embodiments, what describe in above-described embodiment and specification sheets just illustrates principle of the present invention, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention; Application claims protection domain is defined by appending claims and equivalent thereof.

Claims (5)

1. a point speed remittance square formula hybrid power power flow control method, is characterized in that, comprise the following steps: (1) determines the master mode of driving engine, electrical generator and electrical motor; For point rotating speed of speed remittance square formula and a torque coupling relation, driving engine adopts rotating speed control mode, and electrical generator and electrical motor adopt torque control model; Divide speed remittance square formula hybrid power system output shaft to be connected with wheel with rear driving device by change-speed box below, so output shaft rotating speed and the speed of a motor vehicle have fixing proportionate relationship, planetary mechanism gear ring rotating speed can be determined; Under the pattern that engine governed speed controls, the rotating speed of driving engine and electrical generator is also all determined, and by adjustment engine speed regulator generator rotating speed; During electrical generator employing torque control model, according to the torque proportionate relationship of planetary mechanism, motor torque and gear ring torque can be determined; Electrical motor and output shaft carry out torque superposition and carry out power-assisted; Under such control framework, the mode of operation of driving engine, electrical generator and electrical motor is all determined, and can carry out adjustment freely, to meet many-sided requirement such as power performance and fuel economy;
(2) determine power division and the duty point of power component, flow process is determined in power division and operation point, and concrete steps are as follows:
The first step: first power flow control method completes vehicular drive demand power and torque calculation according to chaufeur Das Gaspedal, according to battery state and driving demand power determination battery pack target power, determine engine target power according to driving demand power, battery target power and ancillary system power etc.;
Second step: from engine power and fuel-economy sexual demand, according to rotating speed of target and the torque of engine optimum fuel economy working curve determination driving engine;
3rd step: the torque proportionate relationship determined based on planetary mechanism, according to engine target torque determination electrical generator target torque, is delivered to the torque of gear ring after also can calculating engine power shunting;
4th step: according to the difference determination electrical motor target torque driving demand torque and driving engine to be diverted to gear ring torque; According to power balance equation, the electrical motor determined thus and the difference of generator power must equal battery pack target power.
2. one according to claim 1 divides speed remittance square formula hybrid power power flow control method, it is characterized in that, in the first step of described step (2), chaufeur accelerator pedal position and vehicle speed signal are collected by sensor, according to certain driving intention model, accelerator pedal position is converted to demand power signal; Demand torque is divided by by demand power and vehicle wheel rotational speed corresponding to the speed of a motor vehicle and is obtained.
3. one according to claim 1 divides speed remittance square formula hybrid power power flow control method, it is characterized in that, in the first step of described step (2), battery voltage, temperature and state-of-charge (SOC) are provided by sensor or respective algorithms model, according to these battery status values and with reference to car load driving demand, determine battery pack target power, battery pack may be charged, may discharge.
4. one according to claim 1 divides speed remittance square formula hybrid power power flow control method, and it is characterized in that, in the second step of described step (2), engine optimum fuel economy curve obtains according to Engine Universal Characteristics test data.
5. one according to claim 1 divides speed remittance square formula hybrid power power flow control method, it is characterized in that, in 3rd step of described step (2) and the calculating of the 4th step, relevant torque calculation must consider that the exact efficiency model of each power transimission parts calculates, and not so power flow control result has larger deviation by with anticipated value.
CN201510171300.0A 2015-04-12 2015-04-12 Input split type hybrid power flow control method Pending CN104742898A (en)

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CN104973050B (en) * 2015-07-14 2017-08-11 中国人民解放军装甲兵技术学院 A kind of mixed power plant and its control method based on driving intention
CN104973050A (en) * 2015-07-14 2015-10-14 中国人民解放军装甲兵技术学院 Hybrid power device based on driving intention and control method thereof
WO2017211035A1 (en) * 2016-06-08 2017-12-14 北京新能源汽车股份有限公司 Method and device for controlling and managing power of range extended electric vehicle
CN109795473A (en) * 2017-11-16 2019-05-24 郑州宇通客车股份有限公司 Hybrid vehicle and battery capacity balance control method and control system
CN108545075A (en) * 2018-04-02 2018-09-18 吉林大学 A kind of planetary parallel-serial hybrid power system layer optimal control method
CN108545075B (en) * 2018-04-02 2019-07-23 吉林大学 A kind of planetary parallel-serial hybrid power system layer optimal control method
CN109263633A (en) * 2018-11-19 2019-01-25 吉林大学 A kind of planet series parallel type automobile energy management control method
CN109263633B (en) * 2018-11-19 2020-04-24 吉林大学 Planetary series-parallel automobile energy management control method
CN111497823A (en) * 2019-01-30 2020-08-07 郑州宇通客车股份有限公司 Hybrid vehicle control mode switching coordination control method and vehicle
CN111169459A (en) * 2019-10-11 2020-05-19 中国第一汽车股份有限公司 Hybrid vehicle creep control method and device, vehicle and storage medium
CN111409622A (en) * 2020-01-17 2020-07-14 北京理工大学 Control method and device for electromechanical compound transmission system of tracked vehicle
CN112224196A (en) * 2020-10-15 2021-01-15 内蒙古工业大学 Hybrid power maneuvering platform control system based on double CAN buses
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