CN105752075B - The energy control method of hybrid vehicle based on birotor flux switch motor - Google Patents

The energy control method of hybrid vehicle based on birotor flux switch motor Download PDF

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CN105752075B
CN105752075B CN201610159449.1A CN201610159449A CN105752075B CN 105752075 B CN105752075 B CN 105752075B CN 201610159449 A CN201610159449 A CN 201610159449A CN 105752075 B CN105752075 B CN 105752075B
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internal combustion
combustion engine
dsp chip
converter
control
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CN105752075A (en
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全力
倪泉龙
朱孝勇
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Jiangsu University
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Jiangsu University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/40—Controlling the engagement or disengagement of prime movers, e.g. for transition between prime movers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2556/00—Input parameters relating to data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—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

Abstract

The present invention discloses a kind of energy control method of the hybrid vehicle based on birotor flux switch motor,First,Second A/D converter,Pedal position sensor connects the first dsp chip by respective signal wire respectively,Speed data collection sensor,3rd A/D converter connects the second dsp chip by respective signal wire respectively with battery voltage measurement circuit,First,Second dsp chip connects energy management master controller respectively,Energy management master controller connects control output module through data processing module by vehicle need state scan module and formed,In low-power requirements,Internal combustion engine is closed in low regime,It is operated alone with motor,In combination drive,Take into full account engine efficiency curve and battery charge requirement,If electricity is medium or relatively low,There is charge requirement,Then internal combustion engine operation is in more powerful high efficient district,Improve internal combustion engine operation efficiency,Battery completes charging in the process of moving simultaneously,Capacity usage ratio is improved.

Description

The energy control method of hybrid vehicle based on birotor flux switch motor
Technical field
The invention belongs to electrical control and field of hybrid electric vehicles, using the hybrid power of birotor flux switch motor Automobile, the method that control specifically is realized to the energy of hybrid vehicle.
Background technology
The problems such as battery capacity present in existing pure electric automobile and charging duration, not yet thoroughly solves, electrokinetic cell Price is high, energy density is low, and which has limited the application of electric automobile.Therefore, there is increasing journey hybrid vehicle (referred to as EREVs), as conventional hybrid automotive system, increasing journey hybrid vehicle, also there is internal combustion engine (ICE) and motor to drive Two power sources of system, still, the internal combustion engine in conventional hybrid automobile is in the highest flight, there is provided main energy sources, and drive Motor then only plays a part of auxiliary engine operation；Comparatively speaking, motor and internal combustion in stroke lengthening hybrid power automobile Machine is all main power source, has status of equal importance.Therefore, the reasonable of energy is effectively divided in stroke lengthening hybrid power automobile With particularly important, it is to be ensured that stroke lengthening hybrid power automobile operates in high effective model, improves capacity usage ratio.
Motor used in current most hybrid vehicle electric drive system, when single power storaging unit list motor, Second, double energy storage unit list motors, however, due to being limited by energy storage unit itself charge-discharge characteristic, have energy The shortcomings of measuring low low, charge efficiency and short life, single motor cannot be guaranteed all to keep high-efficiency operation in whole operation interval, It is fast in order to ensure to accelerate, distance travelled length, electric drive system volume can only be done greatly, cause cost high, efficiency is low.
For the energy hole of hybrid vehicle, there are following a few class methods：Rule-based threshold control, mould Paste control strategy, ANN Control and Self Adaptive Control etc..In the document that China Patent No. is CN201110130334.7 The threshold control policy module of proposition, is controlled mixed according to the torque of pedal signal output engine and motor torque signal Power bus traveling is closed, can effectively reduce bus oil consumption, but this control strategy relatively relies on threshold value experience, and Threshold value will not change with road condition change, and flexibility is poor, therefore application scenario is severely limited.China Patent No. To propose fuzzy control strategy in CN200910217824.3 document, the demand working condition of motor is divided into 7 Region, the working condition of electrokinetic cell are divided into 7 regions, according to the service behaviour of engine, by the output state of engine point For 3-5 fuel-economy and low emission point, using fuzzy logic algorithm, engine, electrokinetic cell and motor is allowed to be operated in High efficient district, reduce battery and participate in the working time；Although this control method flexibility is preferable, the ambiguity of output quantity compared with Greatly, output operating mode and actual condition followability are reduced.China Patent No. is to be described in CN201210465045.7 document Entire car controller data according to needed for calculating the energy management strategies received, go out current optimal power by neural computing Distribution；Also China Patent No. is to elaborate the method based on multi-agent Technology in CN201210280951.X document, can With the following a bit of driving conditions of look-ahead vehicle, carry out energy management optimal control, not only reached optimization purpose but also Avoiding progress global optimization needs accurately to know the situation of whole driving cycle.However, either it is based on neural computing Technology is still based on multi-agent Technology, is required for very big data processing and network share, to realizing that this control strategy increases Cost and difficulty are added.
The content of the invention
To solve the problems, such as that the energy hole of above-mentioned existing hybrid vehicle is present, the present invention proposes that one kind is turned based on double The energy control method of the stroke lengthening hybrid power automobile of sub- flux switch permanent magnet motor, can be rationally effective with the change of road conditions The energy of ground distributive mixing power vehicle, flexibility is good, improves output operating mode and actual condition followability.
The technical solution adopted by the present invention is to comprise the following steps：
A, the first dsp chip controls the operation of internal combustion engine by the first A/D converter, is controlled by the second A/D converter Birotor flux switch motor is run, and speed data collection sensor and the 3rd A/D converter is installed on the wheel shaft of wheel, vehicle-mounted The output end installation battery voltage measurement circuit of lithium ion battery；First A/D converter, the second A/D converter, pedal position pass Sensor connects the first dsp chip, speed data collection sensor, the 3rd A/D converter and battery electricity by respective signal wire respectively Measuring circuit is pressed to connect the second dsp chip by respective signal wire respectively, the first dsp chip and the second dsp chip connect respectively Energy management master controller is connect, energy management master controller is connected through data processing module by vehicle need state scan module and controlled Output module composition processed；
B, the rotational angle of the wheel detected is passed to the second dsp chip, the second dsp chip by speed data collection sensor The angular speed of wheel is calculated, angular speed is transferred to data processing module, data processing module calculates speedV, by speedV It is transferred to control output module；The fuzzy opening angle of the device with pedal detected is passed to first by pedal position sensor Dsp chip, the first dsp chip input the voltage that processing obtains to vehicle need state scan module, vehicle need state Scan module calculates the accurate opening angle of device with pedal and is transferred to data processing module, and data processing module is according to accurate Opening angle and speedVInternal combustion engine demand power is calculatedP t And it is transferred to control output module；Battery voltage measurement circuit The voltage signal for detecting lithium ion battery simultaneously passes to the second dsp chip, and output voltage amount is to number after the processing of the second dsp chip According to processing module, data processing module calculates battery electric quantity SOC and is transferred to control output module；
C, internal combustion engine demand power of the output module to input is controlledP t Handled and judged, if internal combustion engine demand work( RateP t More than zero, then it is judged as traction powerP tc If internal combustion engine demand powerP t Less than zero, then it is judged as braking powerP bc ；If Internal combustion engine demand powerP t For braking powerP bc , then output module is controlled by braking powerP bc The maximum braking of default motor PowerP m-max Compare, if braking powerP bc ≤P m-max , then judge that vehicle is in single braking mode, control output module warp The first dsp chip is crossed, controls birotor flux switch motor to be in braking mode by the second A/D converter；If otherwise braking PowerP bc ＞P m-max , then judge that vehicle is in composite braking pattern, control output module passes through the first dsp chip and the 2nd DSP Chip, control signal is sent to birotor flux switch motor by the second A/D converter, while pass through the 3rd A/D converter Control signal is sent to wheel, birotor flux switch motor is in braking mode；If control output module judges internal combustion engine Demand powerP t For traction powerP tc , then output module is controlled by speedVOutput maximum (top) speed is driven with motorV max Compared Compared with if speedV<V max , then output module is controlled according to formulaT req =P t /VDemand torque is calculatedT req , by demand torqueT req With the torque capacity of default motor driving outputT max It is compared, if demand torqueT req <T max , then vehicle be in motor Traction mode, control output module control birotor flux switch motor by the first dsp chip and by the second A/D converter Internal combustion engine is controlled to close in traction mode, while by the first A/D converter.
In step C, if demand torqueT req ≥T max , then vehicle be in mixing traction mode, control output module is by the One dsp chip and the control birotor flux switch motor operation of the second A/D converter pass through the first A/D to drive vehicle Converter starts internal combustion engine operation.
If control output module judges speedV≥V max , by internal combustion engine demand powerP t It is optimal with default internal combustion engine Operation area powerP e-opt Compare, if demand powerP t >P e-opt , then vehicle, which is in, mixes traction mode, control output module warp The first dsp chip and the control birotor flux switch motor operation of the second A/D converter are crossed, while passes through the first A/D converter Start internal combustion engine operation.
If internal combustion engine demand powerP t ≤P e-opt , then the battery electric quantity that will receive of output module is controlledSOCWith it is default Battery electric quantity peakSOC top Compare, if battery electric quantitySOC＞SOC top , then vehicle be in internal combustion engine traction pattern, control is defeated Go out module to close by the first dsp chip and the second A/D converter control birotor flux switch motor, while pass through the first A/ D converters start internal combustion engine operation.
If battery electric quantity SOC≤SOC top , then vehicle be in peak value power source charges pattern, control output module passes through first Dsp chip and the first A/D converter 1 control internal combustion engine operation, a part of power provide vehicle operation, and dump power is filled to battery Electricity.
The present invention has an advantageous effect in that after using above-mentioned technical proposal：The present invention is by internal combustion engine and motor driven systems As main power source, internal combustion engine is closed in low-power requirements, low regime, is operated alone with motor, vehicle does not discharge, section Save the energy, it is therefore prevented that it is single engine is only met prime power demand when running using limiting control, do not consider that engine is transported Go in high efficient district, cause the phenomenon of energy dissipation to occur.Meanwhile in combination drive, take into full account engine efficiency curve and Battery charge requirement, if electricity is medium or relatively low, there is charge requirement, then internal combustion engine operation is in more powerful high efficient district, one Divide and be used for meeting vehicle demand, another part is used for charging the battery, and improves internal combustion engine operation efficiency, while running over journey Middle battery completes charging, and capacity usage ratio is improved.Threshold control strategy is used present invention, avoiding single, Engine is met prime power demand when running, while engine is operated in high efficient district as much as possible, make engine and electricity Machine turns into main power source, participates in vehicle operation, reduces oil consumption, saves the energy, environmental protection.
Brief description of the drawings
Technical scheme is described in further detail below in conjunction with accompanying drawing；
Fig. 1 is the energy management system mechanical structure connection of the hybrid vehicle based on birotor flux switch motor Figure；
Fig. 2 is the control block diagram of the energy management system shown in Fig. 1；
Fig. 3 is the energy control method flow chart of the hybrid vehicle of the invention based on birotor flux switch motor；
Fig. 4 is the block plan of fuzzy control strategy of the present invention in energy control method；
Fig. 5 is the vehicle output speed curve map after the present invention is implemented；
Fig. 6 is the battery electric quantity state variation diagram after the present invention is implemented.
Wherein：3. outer rotor；5. internal rotor；6. intermediate stator；8. internal combustion engine；9. input shaft；10. inverter；11. pair turn Sub- flux switch motor；12. epicyclic gearing；13. output shaft；14. lithium ion battery；15. wheel；16. the first A/D is changed Device；17. the second A/D converter；18. speed data collection sensor；19. the 3rd A/D converter；20. battery voltage measurement circuit； 21. pedal position sensor.
Embodiment
The energy management system of hybrid vehicle based on birotor flux switch motor shown in Figure 1, wherein, Birotor flux switch motor 11 includes outer rotor 3, intermediate stator 6 and internal rotor 5, when birotor flux switch motor 11 starts During operation, it is operated together equivalent to interior motor and outer motor and magnetic linkage is not interfere with each other.Internal combustion engine 8 is connected into double turn through input shaft 9 One end of the internal rotor 5 of sub- flux switch motor 11, the sun gear of the other end connection epicyclic gearing 12 of internal rotor 5, OK The planet carrier of star gear device 12 connects the wheel shaft of wheel 15 by output shaft 13, makes the power that internal combustion engine 8 provides through internal rotor 5 Wheel 15 is transferred to epicyclic gearing 12.Lithium ion battery 14 provides power, outer rotor 3 by inverter 10 to outer motor The gear ring of epicyclic gearing 12 is connected, the power that lithium ion battery 14 provides is passed by outer rotor 3 and epicyclic gearing 12 It is handed to wheel 15.
First A/D converter 16, the first A/D are installed on the input shaft 9 of internal combustion engine 8 and birotor flux switch motor 11 Converter 16 is connected with internal combustion engine 8.Birotor flux switch motor 11 is connected with the second A/D converter 17, the second A/D converter In 17 connecting shaft between motor inner and outer rotors and epicyclic gearing 12.Speed data collection is installed on the wheel shaft of wheel 15 The A/D converter 19 of sensor 18 and the 3rd.Pacify between the output end of lithium ion battery 14, lithium ion battery 14 and inverter 10 Packed battery tension measuring circuit 20.
Referring to Fig. 2, the first A/D converter 16, the second A/D converter 17 connect first by respective signal wire respectively Dsp chip, the first dsp chip connects pedal position sensor 21 simultaneously, and the first dsp chip connection CAN, CAN are total Line connects energy management master controller by CAN interface.First dsp chip controls internal combustion engine 8 by the first A/D converter 16 Operation, the operation of birotor flux switch motor 11 is controlled by the second A/D converter 17, pedal position sensor 21 gathers The opening angle of pedal and by opening angle information transmission to the first dsp chip.Speed data collection sensor 18, the 3rd A/D conversions Device 19 connects the second dsp chip, the connection of the second dsp chip by respective signal wire respectively with battery voltage measurement circuit 20 CAN, CAN connect energy management master controller by CAN interface.Energy management master controller is by vehicle demand shape State scan module, data processing module and control output module composition, vehicle need state scan module is through data processing module Connection control output module.
First dsp chip and the second dsp chip are the chips of TI DSP 28335, and speed data collection sensor 18 is surveyed in real time The output speed of wheel of vehicle 15 is measured, signal passes to the second dsp chip, is analyzed by energy management master controller, to internal combustion Machine 8 and the output speed of birotor flux switch motor 11 and torque are allocated and adjusted, by CAN and the 2nd DSP cores Piece, then become the speed controling signal of wheel of vehicle 15 by the 3rd A/D converter 19 and speed is controlled.Battery voltage measurement Circuit 20 measures the voltage that vehicle on-board battery is lithium ion battery 14 in real time, and signal passes to the second dsp chip, by energy Management master controller is analyzed to obtain cell voltage and battery electric quantity, and this data is to judge the basic data of vehicle operating modes, Now vehicle operating modes can be released in energy management master controller on this basis, by energy management master controller point Rotating speed and the torque of the internal combustion engine 8 after being optimized are analysed, is changed by CAN and the first dsp chip, then by the first A/D Device 16 becomes the running speed torque of internal combustion engine 8 and realizes that optimization internal combustion engine 8 is run, motor speed and torque after optimization, by CAN Bus, the first dsp chip, then become the birotor after motor operation rotational speed and torque realizes optimization by the second A/D converter 17 Flux switch motor 11 is run.
Energy management unit can realize the control of energy flow direction by control method with bi-directional signal, to reach hair Motivation operates in high efficient district, the purpose for reducing oil consumption, reducing discharge.Mixing of the invention based on birotor flux switch motor is moved The energy control method of power automobile is specific as follows：
It will be preset in lower limit in energy management master controller, default limit value has：The radius of wheel 15r, motor is most Big braking powerP m-max , battery electric quantity peakSOC top , battery initial quantity of electricity valueSOC begin , the maximum turn of motor driving output SpeedV max , the minimum torque of motor driving outputT min And torque capacityT max , the optimum operating area power of internal combustion engine 8P e-opt , this is The self power of internal combustion engine 8, it is one of nature parameters of internal combustion engine 8.
The rotational angle of the wheel 15 within the set time is detected using speed data collection sensor 18θ, utilize speed data collection Hall effect in sensor 18 is acted on rotational angleθIt is converted into and rotational angleθCorresponding electric signalU 1 , electric signalU 1 By Pulse signal forms, and speed data collection sensor 18 is by electric signalU 1 Pass to the second dsp chip.Second dsp chip is according to telecommunications NumberU 1 Pulse number and the intrinsic pulses per second of speed data collection sensor 18 angle of rotation of interior wheel per second is calculated Degree, the i.e. angular speed of wheelω, this angular speedωData are transferred to data processing module, data processing module by CAN By the angular speed of inputωWith the radius of the wheel 15 of pre-inputrIt is multiplied, i.e., according to formulaV=ωrSpeed is calculatedVAfterwards, then By speedVIt is transferred to control output module.
The fuzzy opening angle of device with pedal is detected using pedal position sensor 21β, pedal position sensor 21 will Fuzzy opening angleβIt is converted into voltage signalu, and by voltage signaluThe first dsp chip is passed to, the first dsp chip is first corrected Voltage signalu, burr is smoothed, corrected, then exports accurate voltageU, this voltageUInputted by CAN to car Need state scan module, vehicle need state scan module is according to the voltage signal of inputUPedal is calculated in proportion The opening angle of deviceα, vehicle need state scan module is by opening angleαIt is transferred to data processing module.
Data processing module is according to opening angleαAnd speedV, first by formulaN e =f (α,V) internal combustion engine 8 is calculated Rotating speedN e , then by formulaT e =f(α,N e ) output torque of internal combustion engine 8 is calculatedT e , by formulaP t =T e *N e / 9550 calculate To the demand power of internal combustion engine 8P t , the demand power of internal combustion engine 8 will be calculated in data processing moduleP t It is transferred to control output module.
The voltage signal of vehicle on-board battery 14 is detected using battery voltage measurement circuit 20v oc , and by voltage signalv oc The second dsp chip is passed to, voltage signal is corrected in the second dsp chipv oc , burr is smoothed, corrected, exports accurate electricity Pressure amountV oc , this voltageV oc Data are transferred to data processing module by CAN, and electricity is calculated in data processing module The battery electric quantity SOC value being calculated is transferred to control output module by pond electricity SOC, data processing module.
Battery electric quantity SOC value can pass through state transition equationIt is calculated, wherein,Q b For Battery maximum pd quantity；SOC k+1 、SOC k It is the battery electric quantity at k+1 the and k moment respectively, when k is zero,SOC k Value be The battery initial quantity of electricity value of pre-inputSOC begin ；i b,k For in the value of k moment battery discharge currents, k moment battery discharge currentsi b,k Obtained by following formula：, wherein,V oc,k It is the battery electricity at the k moment Pressure,R t It is battery terminal impedance,R int It is the internal resistance of cell, is divided into electric discharge internal resistanceR int,dis And internal charging resistanceR int,chg , it is electricity respectively The function of pond state of charge,P b,k It is in the k moment powers of battery, the k moment powers of batteryP b,k Tried to achieve by following formula：, wherein、Respectively motor torque and rotating speed,For electric efficiency, can pass through Motor speed and motor torque, which are tabled look-up, to be drawn.
Referring to Fig. 3, internal combustion engine 8 demand power of the control output module to inputP t Handled and judged, if internal combustion engine 8 Demand powerP t More than zero, then it is judged as traction powerP tc If the demand power of internal combustion engine 8P t Less than zero, then it is judged as braking work RateP bc 。
If the demand power of internal combustion engine 8P t For braking powerP bc , then output module is controlled by braking powerP bc It is default Motor maximum brake powerP m-max Compare, if braking powerP bc ≤P m-max , then judge that vehicle is in single braking mode, control Output module processed sends motor braking instruction, i.e., passes through the first dsp chip by CAN, right by the second A/D converter 17 Birotor flux switch motor 11 is controlled, and birotor flux switch motor 11 is in the braking that braking mode reaches vehicle Effect.If conversely, braking powerP bc ＞P m-max , then judge that vehicle is in composite braking pattern, control output module sends motor Braking instruction and vehicle braking instruction, i.e., the first dsp chip and the second dsp chip are passed through by CAN respectively, pass through second A/D converter 17 sends control signal to birotor flux switch motor 11 and is controlled, while passes through the 3rd A/D converter 19 Control signal is sent to wheel 15 to be controlled, and birotor flux switch motor 11 is in braking mode, vehicle brake, vehicle In composite braking pattern.
If control output module judges the demand power of internal combustion engine 8P t For traction powerP tc , then output module is controlled to come from The speed of data processing moduleVOutput maximum (top) speed is driven with motorV max It is compared, if speedV<V max , then output mould is controlled Root tuber is according to formulaT req =P t /VDemand torque is calculatedT req , by demand torqueT req With the maximum of default motor driving output TorqueT max It is compared, if demand torqueT req <T max , then vehicle be in motor traction mode, it is necessary to internal combustion engine close do not transport OK, vehicle operation is operated alone in motor, and therefore, control output module sends motor control instruction and internal combustion engine control instruction, leads to Cross CAN and pass through the first dsp chip, birotor flux switch motor 11, which is controlled, by the second A/D converter 17 makes Motor is in traction mode, and driving vehicle is run by birotor flux switch motor 11, while right by the first A/D converter 16 Internal combustion engine 8 is controlled, and keeps internal combustion engine to close.If conversely, demand torqueT req ≥T max , then vehicle, which is in, mixes traction mould Formula is, it is necessary to start internal combustion engine 8, and the auxiliary operation of birotor flux switch motor 11, both drive vehicle to run simultaneously, therefore, control Output module processed sends motor driving and internal combustion engine driving instruction, i.e., passes through the first dsp chip by CAN, pass through second A/D converter 17 is controlled to birotor flux switch motor 11, drives the electric operation of birotor flux switch motor 11 Motor-car, meanwhile, internal combustion engine 8 is started by the first A/D converter 16 and run, now internal combustion engine 8 and birotor magnetic flux switching electricity Machine 11 drives vehicle to run simultaneously.
Conversely, if control output module judges speedV≥V max , by the demand power of internal combustion engine 8P t With default internal combustion engine 8 optimum operating area powerP e-opt Compare, if demand powerP t >P e-opt , then vehicle, which is in, mixes traction mode, control output Module sends motor driving and internal combustion engine driving instruction, i.e., passes through the first dsp chip by CAN, is changed by the 2nd A/D Device 17 is controlled to birotor flux switch motor 11, motor powered operation, meanwhile, started by the first A/D converter 16 Internal combustion engine 8 is run, and is made internal combustion engine 8 and birotor flux switch motor 11 while is driven vehicle to run.
If the demand power of internal combustion engine 8P t ≤P e-opt , then the battery electric quantity that will receive of output module is controlledSOCWith it is default Battery electric quantity peakSOC top Compare, if battery electric quantitySOC＞SOC top , then vehicle be in internal combustion engine traction pattern, i.e. internal combustion Machine 8 may operate in high efficient district, and vehicle operation is operated alone, and control output module sends internal combustion engine driving instruction, that is, passes through CAN Bus passes through the first dsp chip, and birotor flux switch motor 11 is closed by the second A/D converter 17, meanwhile, lead to Cross the first A/D converter 16 starting internal combustion engine 8 to run, vehicle is operated alone by internal combustion engine 8.
If battery electric quantity SOC≤SOC top , then vehicle be in peak value power source charges pattern, control output module sends internal combustion Machine operating instruction, i.e., the first dsp chip is passed through by CAN, keep internal combustion engine 8 to operate in by the first A/D converter 16 Slightly higher power area, motor operation in drive, a part of power provide vehicle operation, and remainder charges the battery.Peak now It is worth under power source charges pattern, control output module is in advance by the demand power of internal combustion engine 8P t It is blurred with battery electric quantity SOC, such as Fig. 4 The block plan of shown fuzzy control strategy, its basic domain is [0,100] Kw, [0,70] %, by the two input variable moulds Gelatinization, fuzzy subset are { PL, PM, PH } and { QL, QM, QH }, fuzzy output variable output torqueT er Domain be [0,100] Nm, fuzzy subset are { Z, L, M, PL, PM, PH }, and the membership function for selecting input and output fuzzy variable is triangle, fuzzy control Rule is by conventional relative if-then, or and and etc., wherein the fuzzy control rule of each output quantity and input quantity such as institute of table 1 Show.
The fuzzy control rule table of table 1
Output module is controlled to obtain corresponding output torque according to fuzzy control rule table 1T er Fuzzy quantity, now can't Direct output control internal combustion engine, also need to carry out de-fuzzy processing, output module ability is controlled after obtaining actual output torque Internal combustion engine operation instruction is sent, the first dsp chip is passed through by CAN, internal combustion engine 8 is kept by the first A/D converter 17 Operate in set power area, motor operation in drive, a part of power provides vehicle operation, and remainder charges the battery.
By applying the present invention in the simulation model of real vehicle, hybrid vehicle output speed and set operating mode are obtained Effect diagram of the embodiment of the present invention as shown in Figure 5 and Figure 6, wherein Fig. 5 are hybrid vehicle output speed and set work Condition speed diagram, Fig. 6 are battery state of charge variation diagrams, in the case where ensureing that battery state of charge changes in allowed band, This invention ensures that to the reasonable distribution of demand power, engine efficiency is improved, battery is reasonably charged, so as to carry High fuel economy.

Claims (6)

1. a kind of energy control method of the hybrid vehicle based on birotor flux switch motor, control output module is to defeated The internal combustion engine demand power enteredP t Handled and judged, if internal combustion engine demand powerP t More than zero, then it is judged as traction powerP tc If internal combustion engine demand powerP t Less than zero, then it is judged as braking powerP bc ；If internal combustion engine demand powerP t For braking powerP bc , then output module is controlled by braking powerP bc Default motor maximum brake powerP m-max Compare, if braking powerP bc ≤P m-max , then judge that vehicle is in single braking mode, control output module control birotor flux switch motor is in system Dynamic model formula；If otherwise braking powerP bc ＞P m-max , then judge that vehicle is in composite braking pattern, control output module is to double turns Sub- flux switch motor sends control signal, while sends control signal to wheel, birotor flux switch motor is in system Dynamic model formula；If control output module judges internal combustion engine demand powerP t For traction powerP tc , then output module is controlled by speedVWith Motor driving output maximum (top) speedV max It is compared, if speedV<V max , then output module is controlled according to formulaT req =P t /VMeter Calculation obtains demand torqueT req , by demand torqueT req With the torque capacity of default motor driving outputT max It is compared, if needing Ask torqueT req <T max , then vehicle be in motor traction mode, control output module control birotor flux switch motor, which is in, to be led Draw pattern, while control internal combustion engine to close, it is characterized in that comprising the following steps：
A, the first dsp chip controls the operation of internal combustion engine by the first A/D converter, turns by the way that the control of the second A/D converter is double The operation of sub- flux switch motor, installs speed data collection sensor and the 3rd A/D converter on the wheel shaft of wheel, vehicle-mounted lithium from The output end installation battery voltage measurement circuit of sub- battery；First A/D converter, the second A/D converter, pedal position sensor The first dsp chip is connected by respective signal wire respectively, speed data collection sensor, the 3rd A/D converter and cell voltage are surveyed Measure circuit and the second dsp chip is connected by respective signal wire respectively, the first dsp chip and the second dsp chip connect energy respectively Buret manages master controller, and energy management master controller is defeated through data processing module connection control by vehicle need state scan module Go out module composition；
B, the rotational angle of the wheel detected is passed to the second dsp chip by speed data collection sensor, and the second dsp chip calculates Go out the angular speed of wheel, angular speed is transferred to data processing module, data processing module calculates speedV, by speedVTransmit To control output module；The fuzzy opening angle of the device with pedal detected is passed to the first DSP cores by pedal position sensor Piece, the first dsp chip input the voltage that processing obtains to vehicle need state scan module, vehicle need state scanning mould Block calculates the accurate opening angle of device with pedal and is transferred to data processing module, and data processing module is according to accurate opening angle Degree and speedVInternal combustion engine demand power is calculatedP t And it is transferred to control output module；Battery voltage measurement circuit detects lithium The voltage signal of ion battery simultaneously passes to the second dsp chip, and output voltage amount is to data processing after the processing of the second dsp chip Module, data processing module calculate battery electric quantity SOC and are transferred to control output module；
C, control output module passes through the first dsp chip, is controlled by the second A/D converter at birotor flux switch motor In braking mode；Control output module passes through the first dsp chip and the second dsp chip, by the second A/D converter to birotor Flux switch motor sends control signal, while sends control signal to wheel by the 3rd A/D converter；Control output module Control birotor flux switch motor to be in traction mode by the first dsp chip and by the second A/D converter, pass through simultaneously First A/D converter control internal combustion engine is closed.
2. the energy control method of the hybrid vehicle according to claim 1 based on birotor flux switch motor, It is characterized in that：In step C, if demand torqueT req ≥T max , then vehicle be in mixing traction mode, control output module is by the One dsp chip and the control birotor flux switch motor operation of the second A/D converter pass through the first A/D to drive vehicle Converter starts internal combustion engine operation.
3. the energy control method of the hybrid vehicle according to claim 2 based on birotor flux switch motor, It is characterized in that：If control output module judges speedV≥V max , by internal combustion engine demand powerP t With default internal combustion engine most Good speed row area powerP e-opt Compare, if demand powerP t >P e-opt , then vehicle, which is in, mixes traction mode, controls output module By the first dsp chip and the control birotor flux switch motor operation of the second A/D converter, while changed by the first A/D Device starts internal combustion engine operation.
4. the energy control method of the hybrid vehicle according to claim 3 based on birotor flux switch motor, It is characterized in that：If internal combustion engine demand powerP t ≤P e-opt , then the battery electric quantity that will receive of output module is controlledSOCWith it is default Battery electric quantity peakSOC top Compare, if battery electric quantitySOC＞SOC top , then vehicle be in internal combustion engine traction pattern, control is defeated Go out module to close by the first dsp chip and the second A/D converter control birotor flux switch motor, while pass through the first A/ D converters start internal combustion engine operation.
5. the energy control method of the hybrid vehicle according to claim 4 based on birotor flux switch motor, It is characterized in that：If battery electric quantity SOC≤SOC top , then vehicle be in peak value power source charges pattern, control output module passes through first Dsp chip and the first A/D converter control internal combustion engine operation, a part of power provide vehicle operation, and dump power is filled to battery Electricity.
6. the energy control method of the hybrid vehicle according to claim 5 based on birotor flux switch motor, It is characterized in that：Output module is controlled in advance by internal combustion engine demand powerP t It is blurred with battery electric quantity SOC, obtains corresponding output TorqueT er Fuzzy quantity, then de-fuzzy are handled after obtaining actual output torque, control output module by the first dsp chip and Internal combustion engine operation is kept by the first A/D converter.
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