CN105459844A - Multi-mode energy management method for extended-range electric vehicle - Google Patents

Multi-mode energy management method for extended-range electric vehicle Download PDF

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CN105459844A
CN105459844A CN201511023898.5A CN201511023898A CN105459844A CN 105459844 A CN105459844 A CN 105459844A CN 201511023898 A CN201511023898 A CN 201511023898A CN 105459844 A CN105459844 A CN 105459844A
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vehicle
pattern
distance
electricity
chaufeur
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CN105459844B (en
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张承宁
周维
王志福
李军求
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Beijing Institute of Technology BIT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention provides a multi-mode energy management method for an extended-range electric vehicle. The method is characterized in that a vehicle control unit automatically judges and switches the working mode of the vehicle according to the expectation to the vehicle power performance, input by a driver, the vehicle position information and road condition information provided by vehicle-mounted geographic information equipment as well as the current state information of the vehicle, and manages the power distribution between a range extender and a power battery according to the selected control mode, wherein the power distribution management is based on the power distribution strategy of the Pontryagin minimum value principle so as to realize optimal power distribution. The method improves the driving experience of the extended-range electric vehicle and meets the energy management strategy of the vehicle power performance in different road conditions.

Description

A kind of stroke-increasing electric automobile multi-mode energy management method
Technical field
The invention belongs to new-energy automobile control technology field, be specifically related to a kind of stroke-increasing electric automobile multi-mode energy management method.
Background technology
Stroke-increasing electric automobile by installing a small-sized distance increasing unit additional as auxiliary energy source on the basis of pure electric automobile, effectively extend the continual mileage of pure electric automobile, eliminate " the mileage anxiety " of chaufeur, be considered to the new-energy automobile type having development prospect.At present, the typical control model of stroke-increasing electric automobile is as follows: first control vehicle and travel with electric-only mode, when battery electric quantity drops to certain limit value, control vehicle and enter increasing journey pattern, distance increasing unit starts, and is maintained near lower limit by the electricity of electrokinetic cell while providing energy for vehicle traveling.Generally above-mentioned master mode is called in this area that electric quantity consumption-electricity maintains (CD-CS) pattern.Under CD-CS pattern, because the power of distance increasing unit is less, vehicle the electricity maintenance stage there will be run at high speed time tractive performance deficiency problem, affect the driving experience of chaufeur.Certainly, the distance increasing unit enough large by mesh power can address this problem, but this can increase the volume and weight of distance increasing unit, runs counter to the design concept of stroke-increasing electric automobile.Therefore, how to utilize mated miniwatt distance increasing unit, solving the electricity maintenance stage by rational energy management control policy and to run at high speed the problem of tractive performance deficiency, is ensure that stroke-increasing electric automobile has the key of good driving experience.
The research of stroke-increasing electric automobile energy management strategies is concentrated on mostly on the fuel economy how improving the electricity maintenance stage in current document.As patent of invention CN102951037A discloses a kind of thinking can selecting different-energy operating strategy according to driving cycle, the fuel-economy economy of stroke-increasing electric automobile under different driving cycle can be improved, but still cannot solve the electricity maintenance stage and to run at high speed the problem of tractive performance deficiency.
Different chaufeurs is to the expectation of vehicles dynamic performance and require different.Some chaufeurs require height to tractive performance, wish that vehicle all shows abundant power in whole driving process, and some chaufeurs then can accept the deficiency of vehicle at electricity maintenance stage tractive performance.When design energy operating strategy, the tractive performance adapting to chaufeur different to vehicle is needed to expect.
When running at high speed under increasing journey pattern for above-mentioned stroke-increasing electric automobile, tractive performance is not enough, the problem that chaufeur is expected vehicles dynamic performance cannot be adapted to, the invention provides in a kind of engineering feasible, and the stroke-increasing electric automobile multi-mode energy management strategies that fuel economy is higher, improve the driving experience of stroke-increasing electric automobile, meet the energy management strategies of the power performance of different road conditions.
Summary of the invention
The present invention considers the vehicle location and simple traffic information that chaufeur provides the expectation of vehicles dynamic performance, the pure electronic continual mileage of vehicle and vehicle-mounted or portable geography information equipment, devise a kind of multi-mode energy management strategies, in order to improve the driving experience of stroke-increasing electric automobile.
The present invention is achieved through the following technical solutions: stroke-increasing electric automobile multi-mode energy management control method, comprises the following steps:
S01: the road conditions proportion in the distance D between entire car controller reception current vehicle position to destination, residue distance shared by different sections of highway and chaufeur are to the expectation information of vehicles dynamic performance;
S02: entire car controller estimates the pure electronic continual mileage F of vehicle according to above-mentioned distance D, road conditions proportion and the chaufeur expectation information to vehicles dynamic performance;
If above-mentioned distance D is less than above-mentioned continual mileage F, then controls vehicle and travel with electric-only mode, under this driving mode, the distance increasing unit of vehicle is closed; Otherwise enter step S03;
S03: if the driving cycle in future does not have superpower operating mode, then control vehicle and maintain (CD-CS) pattern traveling with electric quantity consumption-electricity.This electric quantity consumption-electricity maintains vehicle in (CD-CS) pattern and is first operated in electric-only mode, and after electrokinetic cell residue carrying capacity SoC drops to reference value, enter electricity maintain (CS) pattern, control SoC maintains particular value.Otherwise enter step S04;
S04: if chaufeur is expected high to the tractive performance of vehicle, then start distance increasing unit, control vehicle to travel to mix (BL) pattern, mixing (BL) pattern travels medium power battery SoC and declines with traveling range line in whole driving process, otherwise enters step S05;
S05: if chaufeur is expected not high to the tractive performance of vehicle, then control vehicle and still maintain (CD-CS) pattern traveling with electric quantity consumption-electricity.
Further, if perform in step S04 process, entire car controller detects that chaufeur, to the expectation information of the tractive performance of vehicle, change from high to low occurs, then close distance increasing unit, controls vehicle and maintains (CD-CS) pattern traveling with electric quantity consumption-electricity.
Further, if perform in row step S05 process, entire car controller detects that chaufeur is expected change from low to high occurs to the tractive performance of vehicle, and vehicle is at pure motor driving, then start distance increasing unit, control vehicle and travel to mix (BL) pattern.
Further, the future travel operating mode in step S03 is city operating mode.
Further, in electricity maintenance (CS) pattern, electricity maintenance target is decided to be constant value 30%.
Further, the distance D between described current vehicle position to destination and the road conditions proportion remained in distance shared by different sections of highway are by obtaining after portable geography information equipment or in-vehicle geography information equipment access car load network.
Further, S05 is under later stage high-speed working condition, and the maximum speed of entire car controller to vehicle limits, and described maximum speed value is determined according to the output rating value of distance increasing unit.
Further, the expectation information of described chaufeur to vehicles dynamic performance is input to entire car controller by external input device, and described external input device is one or more in panel switch, acoustic control input, key-press input, handwriting input.
Further, the power division that electricity maintains under (CS) pattern and mixing (BL) pattern between distance increasing unit and electrokinetic cell calculates based on Pang Te lia king minimal principle, by making to obtain best power division between the minimum guarantee distance increasing unit of system Hamiltonian function value and electrokinetic cell.
The application also relates to a kind of stroke-increasing electric automobile, and it uses above-mentioned method.
In each control cycle, the expectation to vehicles dynamic performance that entire car controller inputs according to chaufeur, the vehicle location that vehicle-mounted (or portable) geography information equipment provides and following traffic information, and the state that vehicle is current (the pure electronic continual mileage of vehicle), which kind of should be operated in pattern to vehicle judge and select, and according to selected master mode, corresponding management is carried out to the power division between distance increasing unit and electrokinetic cell, realize the function under each master mode.
Accompanying drawing explanation
Fig. 1 is the flow process of the first multi-mode energy management control policy proposed by the invention.
Fig. 2 is the flow process of the second multi-mode energy management control policy proposed by the invention.
Fig. 3 is the flow process of the 3rd multi-mode energy management control policy proposed by the invention.
Fig. 4 is the variation track of power battery charged state under different mode (SoC) with vehicle operating range.
Detailed description of the invention
Now further illustrate by reference to the accompanying drawings.
For improving a multi-mode energy management control method for stroke-increasing electric automobile driving experience, said method comprising the steps of:
S01: the road conditions proportion in the distance D between entire car controller reception current vehicle position to destination, residue distance shared by different sections of highway and chaufeur are to the expectation information of vehicles dynamic performance.
The concrete acquisition pattern that above-mentioned entire car controller is received information is as follows:
Vehicle-mounted or portable geography information equipment obtains the distance D between current vehicle position to destination, hereinafter referred to as distance D, and the road conditions proportion in residue distance shared by different sections of highway, section includes but not limited to city road, fastlink and cross-country section, section, desert etc.; Above-mentioned distance D and road conditions proportion is sent to entire car controller by CAN;
It is input to entire car controller to the expectation information of vehicles dynamic performance by external input device by chaufeur, and external input device can be one or more in panel switch, acoustic control input, key-press input or handwriting input.
S02: entire car controller estimates the pure electronic continual mileage F of vehicle according to above-mentioned distance D, described road conditions proportion and the expectation information of chaufeur to vehicles dynamic performance, hereinafter referred to as mileage F, and carries out judgement and the selection of master mode.
If distance D is less than mileage F, then control vehicle and travel with electric-only mode, under this driving mode, the distance increasing unit of vehicle is closed, its travel needed for energy all come from electrokinetic cell.Otherwise enter step S03.
S03: if distance D is greater than mileage F, and the driving cycle in future does not have superpower operating mode, do not have such as future high-speed working condition or driving cycle to be city operating mode, then control vehicle and maintain (CD-CS) pattern traveling with electric quantity consumption in Fig. 4-electricity.This electric quantity consumption-electricity maintains vehicle in (CD-CS) pattern and is first operated in electric-only mode, after electrokinetic cell residue carrying capacity SoC drops to 30%, enter electricity maintain (CS) pattern, this electricity maintains the optimal power contribution strategy between distance increasing unit and electrokinetic cell that C/S mode maintains based on SoC, preferably, electricity maintenance target is decided to be constant value 30%.Otherwise enter step S04.
S04: if chaufeur is expected high to the tractive performance of vehicle, then start distance increasing unit, control vehicle and sail with the first mixing BL1 pattern in Fig. 4, electrokinetic cell SoC declines with traveling range line in whole driving process.Otherwise enter step S05.
S05: if chaufeur is expected not high to the tractive performance of vehicle, then control vehicle and still travel with CD-CS pattern.Vehicle is first operated in electric-only mode, enters electricity and maintain pattern after electrokinetic cell SoC drops to 30%, and preferably, electricity maintains target and is decided to be constant value 30%.When later stage high-speed working condition, put to not cause electrokinetic cell, the maximum speed of entire car controller to vehicle limits, and Maximum speed limit value is determined according to the output rating value of distance increasing unit.
Perform in step S04 process (as S in Fig. 4 as shown in Figure 2 1place), entire car controller detects that chaufeur is expected change from high to low occurs to the tractive performance of vehicle, then close distance increasing unit, controls vehicle and travels with the electric quantity consumption in Fig. 4-electricity maintenance CD '-C/S mode.
As shown in Figure 3, perform in step S05 process, if Fig. 4 entire car controller detects that chaufeur is expected change from low to high occurs to the tractive performance of vehicle, and vehicle (S in as Fig. 4 when pure motor driving 0place), then start distance increasing unit, control vehicle and travel with the second mixing BL2 pattern in Fig. 4.
In order to ensure that vehicle obtains good fuel economy, in multi-mode energy management control method proposed by the invention, power division under CS, BL1 and BL2 pattern between distance increasing unit and electrokinetic cell is based on Pang Te lia king minimal principle Design and implementation, by making to obtain best power division between the minimum guarantee distance increasing unit of system Hamiltonian function value and electrokinetic cell, and by online updating controlling elements, namely the association's state variable λ value in Hamiltonian function, realizes the tracing control with reference to SoC track.
Realize the above-mentioned power distribution method based on Pang Te lia king minimal principle to comprise the following steps:
A) off-line constructs the mapping form between system Hamiltonian functional value and vehicle corresponding state, is stored in entire car controller flash.Vehicle corresponding state comprises distance increasing unit horsepower output, the instantaneous electricity SoC of electrokinetic cell, temperature, car load demand power and controlling elements λ, and the mapping relations in mapping form are determined by following formula:
H = m · f + λ S o C ·
Mapping form example under certain specific λ and SoC value as shown in Figure 2.
In formula, be correspond to the fuel consumption rate of distance increasing unit maximal efficiency curve, it be the function of distance increasing unit horsepower output, or is jointly determined by the best fuel oil consumption curve of distance increasing unit, horsepower output and ambient temperature, also can be obtained by platform experiment demarcation; λ is the factor controlling electrokinetic cell SoC change; represent the rate of change of electrokinetic cell SoC.
function for car load demand power, distance increasing unit horsepower output, the current SoC of electrokinetic cell and ambient temperature:
S o C · = - U o c ( S o C , T ) - U o c 2 ( S o C , T ) - 4 ( P d c - P E ) R b ( S o C , T ) 2 R b ( S o C , T ) Q n o m
In formula, U ocrepresent the open circuit voltage of electrokinetic cell; T is temperature of powered cell; P dcfor car load demand power; P efor distance increasing unit horsepower output; R bfor electrokinetic cell internal resistance; Q nomfor electrokinetic cell rated capacity, Q nomfor constant value.
also can demarcate based on the equivalent internal resistance model of electrokinetic cell and test figures and obtain.
B) entire car controller obtains the instantaneous SoC information of electrokinetic cell that sends of BMS by CAN, set reference SoC value current under itself and present mode compared, the difference according to both adjusts the controlling elements λ affecting SoC change in control policy and revises.The adjustment of controlling elements λ is realized by a PI control module:
λ(k)＝λ 0+k p(SoC(k)-SoC ref(k))+k i∑SoC(i)-SoC ref(k)
In formula, λ (k) is revised controlling elements, λ 0, k pand k ibe the controling parameters needing to demarcate, the instantaneous SoC value of electrokinetic cell that SoC (k) sends for BMS, SoC reffor set reference SoC value.In C/S mode, in order to realize the maintenance of SoC, preferably, SoC refbe set as constant value 30%; Under BL1 and BL2 pattern, decline with traveling range line to realize SoC, SoC refdetermined by following formula:
SoC r e f ( k ) = SoC 0 - SoC 0 - SoC f D s ( k )
In formula, SoC 0for being about to enter mixing BL pattern, BL1 or BL2, the SoC value of electrokinetic cell during master mode, SoC fbe set as 30%; S (k) is accumulation operating range when vehicle has relatively just entered BL master mode.
C) entire car controller obtains by CAN the distance increasing unit instantaneous output information that distance increasing unit controller sends, and predicts the scope of next control cycle distance increasing unit horsepower output, and carries out discrete acquisition target power Candidate Set to this scope.
D) entire car controller is according to the status information of Current vehicle and step b) in each Hamiltonian function corresponding to candidate target power of value computation of table lookup of controlling elements λ of upgrading, the candidate target power determining corresponding to Hamiltonian function minimum is the target output of next control cycle distance increasing unit.
E) entire car controller determining step d) in determined target power whether to continue 5s be zero, if not, then send target power value to distance increasing unit controller by CAN; If so, then send halt instruction to distance increasing unit controller, distance increasing unit is shut down.
Can be seen by above principle and implementation step, the multi-mode energy management control method proposed can adapt to the chaufeur tractive performance requirement different to vehicle, solve the problem of tractive performance deficiency when traditional C D-CS type control policy is run at high speed under increasing journey pattern, and can ensure that vehicle all obtains good fuel economy in different modes.
Although illustrate and describe embodiments of the invention, for the ordinary skill in the art, be appreciated that and can carry out multiple change, amendment, replacement and modification to these embodiments without departing from the principles and spirit of the present invention, scope of the present invention is by claims and equivalents thereof.

Claims (10)

1. a stroke-increasing electric automobile multi-mode energy management method, said method comprising the steps of:
S01: the road conditions proportion in the distance D between entire car controller reception current vehicle position to destination, residue distance shared by different sections of highway and chaufeur are to the expectation information of vehicles dynamic performance;
S02: entire car controller estimates the pure electronic continual mileage F of vehicle according to above-mentioned distance D, road conditions proportion and the chaufeur expectation information to vehicles dynamic performance;
If above-mentioned distance D is less than above-mentioned continual mileage F, then controls vehicle and travel with electric-only mode, under this driving mode, the distance increasing unit of vehicle is closed; Otherwise enter step S03;
S03: if the driving cycle in future does not have superpower operating mode, then control vehicle and maintain (CD-CS) pattern traveling with electric quantity consumption-electricity.This electric quantity consumption-electricity maintains vehicle in (CD-CS) pattern and is first operated in electric-only mode, and after electrokinetic cell residue carrying capacity SoC drops to reference value, enter electricity maintain (CS) pattern, control SoC maintains particular value.Otherwise enter step S04;
S04: if chaufeur is expected high to the tractive performance of vehicle, then start distance increasing unit, control vehicle to travel to mix (BL) pattern, mixing (BL) pattern travels medium power battery SoC and declines with traveling range line in whole driving process, otherwise enters step S05;
S05: if chaufeur is expected not high to the tractive performance of vehicle, then control vehicle and still maintain (CD-CS) pattern traveling with electric quantity consumption-electricity.
2. the method for claim 1, it is characterized in that: if perform in step S04 process, entire car controller detects that chaufeur, to the expectation information of the tractive performance of vehicle, change from high to low occurs, then close distance increasing unit, control vehicle and maintain (CD-CS) pattern traveling with electric quantity consumption-electricity.
3. the method for claim 1, it is characterized in that: if perform in row step S05 process, entire car controller detects that chaufeur is expected change from low to high occurs to the tractive performance of vehicle, and vehicle is at pure motor driving, then start distance increasing unit, control vehicle and travel to mix (BL) pattern.
4. the method as described in any one of claims 1 to 3, is characterized in that: the future travel operating mode in step S03 is city operating mode.
5. the method as described in any one of claims 1 to 3, is characterized in that: electricity maintains electricity maintenance target in (CS) pattern and is decided to be constant value 30%.
6. according to the method as described in any one of claims 1 to 3, it is characterized in that: the distance D between described current vehicle position to destination and the road conditions proportion remained in distance shared by different sections of highway are by obtaining after portable geography information equipment or in-vehicle geography information equipment access car load network.
7., according to the method as described in any one of claims 1 to 3, it is characterized in that: S05 is under later stage high-speed working condition, and the maximum speed of entire car controller to vehicle limits, and described maximum speed value is determined according to the output rating value of distance increasing unit.
8. according to the method as described in any one of claims 1 to 3, it is characterized in that: the expectation information of described chaufeur to vehicles dynamic performance is input to entire car controller by external input device, described external input device is one or more in panel switch, acoustic control input, key-press input, handwriting input.
9. the method according to any one of claims 1 to 3, it is characterized in that: the power division that electricity maintains under (CS) pattern and mixing (BL) pattern between distance increasing unit and electrokinetic cell calculates based on Pang Te lia king minimal principle, by making to obtain best power division between the minimum guarantee distance increasing unit of system Hamiltonian function value and electrokinetic cell.
10. a stroke-increasing electric automobile, is characterized in that using the method as described in any one of claim 1-9.
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