CN106515511A - Control strategy for energy consumption of double-motor power system - Google Patents

Control strategy for energy consumption of double-motor power system Download PDF

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Publication number
CN106515511A
CN106515511A CN201611152879.7A CN201611152879A CN106515511A CN 106515511 A CN106515511 A CN 106515511A CN 201611152879 A CN201611152879 A CN 201611152879A CN 106515511 A CN106515511 A CN 106515511A
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motor
torque
energy consumption
double
speed
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李聪波
胡捷
赵来杰
李月
胡芮
陈睿杰
朱道光
杨青山
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Chongqing University
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Chongqing University
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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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
    • 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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • 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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/209—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for overtaking
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/545—Temperature
    • 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
    • B60L2250/00—Driver interactions
    • 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
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a control strategy for power consumption of a double-motor power system of a pure electric automobile. According to the control strategy, the working mode and the torque speed distribution of the double-motor power system are studied according to power consumption, so that the optimal control scheme is obtained. Firstly, the torque required by motors is calculated in real time on the basis of the control information of an accelerating pedal, the state information of the automobile, states of the motors, the battery information, and the like for a driver; then, the optimal torque speed distribution is achieved in the torque coupling working mode and the rotating speed coupling working mode based on the minimum energy consumption principle; and finally, based on the minimum energy consumption principle, the working modes of the double-motor power system are classified, namely the control strategy of the double-motor power system of the pure electric automobile is acquired, and reliability of the control strategy is verified through a Simulink.

Description

A kind of pure electric automobile double-motor power system control strategy towards energy consumption
Technical field
The present invention relates to new-energy automobile dynamical system technical field, and in particular to a kind of pure electric automobile towards energy consumption Double-motor power system control strategy.
Background technology
The dynamic property and economy of electric automobile evaluation index always as electric automobile performance quality, good power Performance meets the demand that driving procedure suddenly accelerates, and preferable economic performance meets the course continuation mileage demand of automobile.However, due to electricity Engine efficiency is had differences on each operating point, causes inevitable contradiction is there is between vehicle dynamic quality and economy, And the rational control strategy of electric automobile can take into account both to a certain extent in demand not in the same time, adjust between the two Contradiction.
Therefore, some scholars start to consider that electric powered motor and economy are changed as target to power assembly system Gear control strategy launches research.In terms of single motor multiple-ratio power system shift control strategy research, Mousavi etc. proposes one The two speed transmission of kind of power failure-free, the optimum Shifting with most short shift time and energy loss as target making. Hu etc. proposes the Shifting of two speed transmission on the basis of torque ripple before and after analysis gearshift, and to reduce shift shock The torque compensation strategy in shift process is proposed for target.State-of-charges of the Jiang Qinghua according to battery system, is formulated respectively Three parameter best power performance schedules and Best Economy schedule based on speed, accelerator open degree and acceleration.Nandi Etc. proposing a kind of electric automobile driving strategy for meeting driver comfort, using particle cluster algorithm with the most short acceleration time and most Baby battery consumption is goal seeking automobile optimum acceleration.
Double-motor power system is widely studied due to its more excellent power performance and economic performance, but bi-motor There is multiple-working mode in dynamical system, be related to distribution and the mode of operation of two motor speed torques to the control of bi-motor Divide so that the control to double-motor power system is more complicated.In terms of double-motor power system control strategy research, Zhang Yun It is prosperous by calculating dynamic mode and economic model demand torque, based on minimum electrical power principle realize mode of operation division and CGCM rotating speed and the distribution of torque.Zhang etc. is dynamic to bi-motor as target with minimal energy consumption and pattern replacement frequency The control strategy of Force system is optimized analysis, has obtained operating point and the power of motor allocation strategy of different working modes.Liu The moral spring has carried out analytical calculation to demand torque and compensation torque on the basis of control strategy framework is proposed, and to CGCM The distribution of lower two motor torques is analyzed.Hu etc. proposes a kind of new motor rotating speed torque coupling configuration, and to which Four kinds of pattern switching strategies are analyzed, and simulation result shows that the double-motor power system has than two speed transmission of single motor Higher capacity usage ratio.
The torque coupling pattern of the double-motor power system that above institute is proposed is realized by sun gear so that Electric automobile powerful in low cruise, but power performance during middling speed is poor.Also, the base proposed in studying above The information on load of battery, motor is not taken into full account when the control strategy of economy is in compensated torque, in motor high load capacity or The damage for easily causing motor, battery is compensated during battery low-electricity quantity.
Therefore, the present invention proposes a kind of new double-motor power system in previous research work, is characterized in keeping away The use of multiple brakes, clutch is exempted from, and torque coupling has been carried out on gear ring, when solving middling speed well power has not been The problem of foot.The present invention launches research to its control strategy towards energy consumption：It is primarily based on control of the driver to accelerator pedal to believe Breath, while considering that car status information, motor status and battery information etc. are calculated in real time to motor requirement torque；Its It is secondary to realize rotational speed and torque most based on least energy consumption principle in two motors under torque coupling and rotating speed two kinds of mode of operations of coupling Optimal sorting is matched somebody with somebody；Finally on the basis of rotational speed and torque optimum allocation, work is carried out to double-motor power system based on least energy consumption principle Operation mode is divided, that is, obtain pure electric vehicle vehicle double electric machine dynamical system control strategy, and by Simulink to its reliability Verified.
The content of the invention
The purpose of the present invention is the mode of operation and torque rotary speed of double-motor power system to be distributed towards energy consumption to grind Study carefully, to obtain the optimum control scheme of the system, realize the comprehensive lifting of capacity usage ratio and dynamic property.
To realize that the technical scheme adopted by the object of the invention is such, i.e., a kind of pure electric automobile towards energy consumption is double Motor power system control strategy, comprises the following steps：
Step 1：Based on control information of the driver to accelerator pedal, while considering car status information (real-time speed, road Road gradient etc.), motor status (motor start and stop, torque rotary speed etc.) and battery information (temperature, dump energy) etc. be to motor Demand torque is calculated in real time；
Step 2：On the basis of the result of calculation of demand torque, torque coupling and rotating speed are coupled two under two kinds of mode of operations Individual motor realizes the optimum allocation of rotational speed and torque based on least energy consumption principle.
Step 3：On the basis of rotational speed and torque optimum allocation, double-motor power system is carried out based on least energy consumption principle Mode of operation is divided, that is, obtain pure electric vehicle vehicle double electric machine dynamical system control strategy, and by Simulink to its reliability Property is verified.
Preferably, it is in step 1, described right based on accelerator pedal information, vehicle-state, motor status and battery information etc. Motor requirement torque carries out the process of real-time calculating：
The acquisition of demand torque is essentially under different road conditions and driver intention is parsed, to obtain garage Required torque, including basic torque and compensation torque are sailed, its relation is：
Treq=Tb+Tadd
Wherein, TbRepresent the basic torque needed for electric automobile during traveling；TaddIt is expressed as improving Dynamic Performance of Electric Vehicle increasing Plus compensation torque.Double-motor power system requirements torque arithmetic flow process such as Fig. 3.
(1) determination of basic torque
Accelerator pedal aperture controls relatively simple with torque proportionality coefficient " linear type " mode, is commonly used in the drivetrain of early stage In the control strategy of system, the basic demand of running car can be met.However, demand turns during which does not consider vehicle traveling process Relation between the peak torque that square and electric automobile can be provided, it is impossible to give full play to the power savings advantages of double-motor power system, Process is modified such as according to new European driving pattern operating mode NEDC (New European Driving Cycle) information to which Under：
In order to be modified with motor torque proportionality coefficient figure to " linear type " pedal aperture, first to automobile in NEDC works During condition downward driving, accelerator pedal aperture is counted.As shown in figure 4, abscissa represents the operating mode time, vertical coordinate is represented to be adopted During with " linear type " accelerator pedal aperture and driving torque relation, vehicle required torque and maximum drive torque ratio, i.e., now Accelerator pedal aperture.As a result show, according to " linear type " accelerator pedal control planning, process is travelled in NEDC standard conditions In, in the case of 91%, accelerator pedal aperture service condition is concentrated within 40%, and the set-up mode is extremely unreasonable, is unsatisfactory for driving Sail custom.
Additionally, according to " upper convex " power output strategy, electric automobile can be made to keep more excellent within most times Acceleration.However, preferably acceleration needs the electrokinetic cell moment to provide larger discharge-rate.The big electric discharge of battery The not only possible service life for reducing battery of multiplying power and the energy consumption that increased electric automobile, reduce electric automobile course continuation mileage.
Based on this, based on standard condition demand torque statistical information to " linear type " curve amendment, turned using " concave shape " The control mode of square load coefficient and accelerator pedal opening curve, as shown in phantom in Figure 5.By standard condition Statistics table It is bright, the operating mode torque load rate of double-motor power system almost within 40%, meanwhile, in order to the anxious process that accelerates or climb In realize compensated torque, it is 95% to arrange system total load rate, and remaining 5% torque load can be used for compensated torque, that is, accelerate Pedal aperture 0-100% correspondence system torque load rate 0-95%.
Can be obtained by above k-l figure, it is bent using " concave shape " torque load coefficient proposed by the present invention and accelerator pedal aperture The control mode of line, during electric automobile standard condition traveling, most of the time accelerator open degree can be covered within 60%, had While preferable driver comfort, it may have preferable economy.
The basic torque of automobile represents that automobile is to reach the torque that target vehicle speed needs, and size and the automobile of its output valve add Speed pedal aperture (k) information is closely related, and driver can pass through to control the output that accelerator pedal aperture directly controls automobile torque. Make k-l curves meet l=f (k), then have basic torque TbMeet
Tb=l Tvmax=f (k) Tvmax
Wherein, TvmaxFor the peak torque that electric automobile under speed v can be provided.
Quick and precisely to obtain peak torque T that electric automobile can be provided in speed vvmax, need to be according to double-motor power Systematic parameter is drawn and is tried hard to based on the equivalent driving of automobile speed per hour and wheel torque, and mode of operation is divided, such as Fig. 6 institutes Show.
In the range of whole automobile driving speed, maximum driving force can according to speed be divided into five it is interval：
1) motor M1Peak value perseverance torque drive power when being operated alone：
2) motor M1Constant-power drive power when being operated alone：
Wherein v meetsv1Represent motor M1When being operated alone equal with torque coupling driving driving force Speed.
3) peak value perseverance torque drive power when bi-motor torque coupling drives：
Wherein v meets
4) Constant-power drive power when bi-motor torque coupling drives：
Wherein v meets
5), during motor rotating speed coupling driving, maximum driving force is by motor M2Determine, now meet：
Wherein v meets
Therefore tabled look-up by accelerator pedal opening value and can obtain torque load coefficient, so that the car is tried to achieve according to speed information The lower maximum driving force of speed, and then obtain the basic torque T of electric automobile double-motor power systemb。
(2) compensation torque is obtained based on low energy consumption principle
Automobile is considered in climbing or anxious acceleration situation, the basic torque to gained carries out certain compensation, is protecting On the premise of card electric automobile economy, the dynamic property of electric automobile is improved.
To reduce electric automobile energy consumption, the compensated torque strategy that the present invention is formulated and pedal information, road information, motor letter Breath and battery information are related, as shown in Figure 7.Wherein, pedal aperture rate of change and grade information can most reflect and suddenly accelerate and climb Slope situation, provides signal support for electric automobile compensated torque.And electrokinetic cell and motor are used as car load drive system Core, its real time information provide constraints for torque optimal compensation.Therefore, factors above is considered to double-motor power system System carries out compensated torque, is the core concept that demand torque of the present invention is obtained.Below information above is elaborated.
1) battery information：It is anxious accelerate or climb during, when compensating to torque, need to consider now battery SOC with And battery temperature T.Battery SOC is relatively low or discharge current is excessive, and when causing battery temperature too high, larger compensation torque is easily made It is too fast into battery discharge, reduction electric automobile course continuation mileage, or even the service life of battery can be reduced, torque should not be mended Repay.Therefore, following two conditions need to be met when the present invention carries out compensated torque to double-motor power system：
Wherein, SOC (t) represents the real-time dump energy of electrokinetic cell, SOClimRepresent that electric automobile is carried out dynamic during compensated torque The critical residual electricity of power battery, it is contemplated that the minimum SOC value of electric automobile power battery is 10% or so, arranges SOC hereinlim For 20%；T (t) represents electrokinetic cell real time temperature, TlimRepresent that electric automobile carries out the stagnation temperature of electrokinetic cell during compensated torque Degree.
2) motor information：Analyzed from electric automobile efficiency characteristic, motor operation interval has to electric automobile energy consumption Important impact.When motor load rate is relatively low, suitably carries out compensated torque and motor can be allowed to be operated in more efficient interval.And few Under number working condition, motor load rate is higher, should not carry out compensated torque, can otherwise reduce motor working efficiency, be unfavorable for carrying High course continuation mileage, or even damage motor.
Therefore, by basic torque and now, torque capacity obtains real time motor rate of load condensate, by electric efficiency MAP Analysis understands, when motor load rate γ is more than 60%, carries out compensated torque and easily causes electric efficiency reduction.Therefore invention is to double electricity Motor-driven Force system need to meet following condition when carrying out compensated torque：
3) pedal information：
Pedal information can reflect that anxious acceleration is intended to a certain extent, therefore compensation torque Tadd1Size on the one hand and accelerate Pedal aperture is relevant, on the other hand relevant with accelerator pedal aperture rate of change, i.e.,
Wherein dk/dt represents accelerator pedal aperture rate of change.
Accurately and effectively compensate to be provided to torque according to accelerator pedal aperture rate of change, to accelerating under NEDC standard conditions It is as shown in Figure 8 that pedal aperture situation of change carries out statistic analysis result.
" concave shape " the power output strategy provided using the present invention, its accelerator pedal aperture rate of change scope are 0- 30%.But the acceleration of the vehicle demand under NEDC standard conditions is greater than in view of the demand acceleration of the vehicle under actual road conditions Degree, i.e., the accelerator pedal aperture rate of change under actual road conditions are greater than the accelerator pedal aperture rate of change under NEDC standard conditions. Therefore, under the actual 2 times of NEDC operating modes of accelerator pedal aperture rate of change scope of present invention setting.Arrange accelerator pedal aperture to become Rate scope carries out moment of torsion linear compensation when being 0-60%, and permanent torque compensation is carried out during more than 60%.I.e. aperture rate of change is 0 When, compensation torque is 0；When aperture rate of change is 60% and the above, compensated with the torque capacity that electric automobile can be exported.Order A is that accelerator pedal aperture changes rate coefficient, and its excursion is 0-100%, is directly proportional to pedal aperture rate of change, such as Fig. 9 institutes Show.
Should be larger in view of torque compensation during running car low speed, the characteristics of during high speed, torque compensation suitably should reduce, symbol Close the trend that electric automobile maximum driving force changes with speed.Therefore compensation torque set by accelerator pedal information is full Foot：
Wherein, Tadd1Represent anxious and accelerate compensation torque, TbK () is corresponding when representing that accelerator pedal aperture is k under speed v Basic torque, a represent accelerator pedal aperture change rate coefficient, m1Accelerate proportionality coefficient for anxious.
4) road information：Adequate compensation is carried out to basic torque in real time according to road grade situation, is conducive to improving electronic The driver comfort of automobile.Meanwhile, compensation torque is relevant with accelerator pedal aperture k during climbing.Compensate torque to meet
Tadd2=f (k, θ)
According to the requirement of design objective, the max. climb slope of double-motor power system electric motor car is 30%.During with anxious acceleration Compensated torque strategy is similar to, and arranges gradient θ and meets proportional relation with gradient coefficient b, as shown in Figure 10.
Therefore, can obtain compensation torque when electric automobile is climbed is：
Tadd2=(Tvmax-Tb(k)) b=(Tvmax-Tb(k))·m2θ
Wherein, m2For proportionality coefficient of climbing.
Therefore electric automobile meets battery constraint and during motor constraints, can accelerate or carry out when climbing certain anxious Compensated torque, to ensure electric automobile in good economy while having preferable dynamic property.
Therefore, double-motor power system real-time requirement can be obtained and is turned by calculating electric automobile basis torque and compensation torque Square Treq
Preferably, it is in step 2, described that minimum is based on to two motors under torque coupling and rotating speed two kinds of mode of operations of coupling Energy consumption principle realizes that the optimum allocation process of rotational speed and torque is：
Double-motor power system has four kinds of different mode of operations：Motor M1Meet sun gear, M2Meet gear ring, M1Independent work Make, low-speed big operating mode mode of operation；Motor M1Do not access, M2Meet gear ring, M2Work independently, the little moment of torsion operating mode work of middling speed Pattern；Motor M1、M2Connect gear ring, torque coupling, middling speed high pulling torque operating mode mode of operation；Motor M1Meet sun gear, M2Connect gear ring, Rotating speed is coupled, high-speed working condition mode of operation.
To determine double-motor power system optimal mode of operation, need to be according to Electric Vehicles Driving Cycle to four kinds of mode of operations Under energy consumption calculated, calculation process is as shown in figure 11.
By controlling accelerator pedal aperture to reach target vehicle speed, torque formula can obtain electronic vapour to driver according to demand Car travels demand torque.Rotating speed is coupled and torque coupling mode of operation carries out two motor speed torque distribution, and then calculated The minimal energy consumption of each mode of operation, and result is contrasted, draw the minimum mode of operation of energy consumption, as bi-motor The optimum mode of operation of upper correspondence operating point is tried hard in the equivalent driving of dynamical system.
To realize that double-motor power system high efficiency runs, action edge point need to be entered to torque coupling and rotating speed CGCM Match somebody with somebody.
(1) torque coupling pattern Torque-sharing strategy
Under bi-motor torque coupling pattern, motor torque speed meets：
Wherein, T1、T2Motor M is represented respectively1, motor M2Torque, n1、n2Motor M is represented respectively1, motor M2Rotating speed, Ti、viWheel driving force and speed of the automobile in operating point i are represented respectively.
As the present invention proposes that the torque coupling principle of double-motor power system is motor M1With motor M2Act on tooth simultaneously On circle, as long as therefore two motor speeds meet automobile speed, two motor torques are relatively independent, can oneself allow working range in appoint Meaning combination.To realize minimal energy consumption, two motor torque optimum allocation flow processs are formulated, as shown in figure 12.
In above flow process, motor M1Initial moment T10Power taking machine M1The minima of torque range, Δ T represent iteration each time During motor M1Torque increment, value are 1N m.And correspondence motor M2Torque T2i=Treq-T1i.By above iterative process, Can search out and meet speed v0Least energy consumption combination, two corresponding to which motor torque is in this case optimum torque group Close.
(2) rotating speed CGCM rotational speed and torque allocation strategy
When rotating speed CGCM works, motor torque speed meets：
In formula, α represents planetary gear characteristic parameter.
During due to using motor rotating speed coupling driving, motor M1With motor M2There is fixed proportion between torque.Can pass through To motor, each rotating speed enters row constraint for demand torque.Minimum principle is consumed with energy consumption of electrical machinery and formulates motor rotating speed distribution stream Journey, as shown in figure 13.
Wherein, initial speed n10Power taking machine M1Minimum speed in the range of speeds, Δ n represent motor in iterative process each time M1Incremental speed, is taken as 5r/min.
On the basis of motor torque is met, motor M need to be determined1With motor M2Operating rotational speed range.Torque according to demand can Draw motor M1With motor M2Moment of torsion, and then determine respective working speed.
Therefore two motor maximum speeds meet：
Preferably, in step 3, the mode of operation partition process of the double-motor power system is：
Principle based on electric automobile the least energy cost is divided to double-motor power system operating mode, that is, determine It is equivalent to drive the mode of operation for trying hard to upper different operating point minimum power consumption.
E=min (E1,E2,E3,E4)
Wherein E1、E2、E3、E4The energy consumed during respectively four kinds of mode of operation.
(1) one energy consumption of mode of operation
The dynamical system energy consumption of mode of operation one is mainly relevant with motor working efficiency and decelerator efficiency.Meeting motor On the basis of maximum speed and torque capacity, now system energy consumption refers mainly to motor M1Input energy, then have
Wherein, motor speedMoment of torsionTherefore one consumed energy of pattern is
In formula, η1Represent motor M1Real time Efficiency at operating point, Δ t represent time point corresponding to motor Real time Efficiency Contiguous range.
(2) two energy consumption of mode of operation
Two energy consumption calculation method of double-motor power system operating mode is identical with mode of operation one, is meeting motor most On the basis of high rotating speed and torque capacity, then have
In formula, η2Represent motor M2Real time Efficiency at operating point.So when pattern one and two energy expenditure of pattern mainly by Motor Real time Efficiency is determined.
(3) three energy consumption of mode of operation
In double-motor power system operating mode three, motor M1With motor M2Can be by coordinating respective torque to meet Demand torque, now both rotating speeds automatically adjust with speed.Therefore, now double-motor power system energy consumption by two motor energy Consumption sum is constituted, i.e.,
Wherein EM1、EM2Motor M is represented respectively1, motor M2Energy consumption.The rotating speed of each motor and torque can be carried according to upper section To double-motor power system torque couple the allocation strategy of lower two motor torques and draw.
(4) four energy consumption of mode of operation
In mode of operation four, on planetary mechanism sun gear and gear ring there is fixed relationship in torque, therefore only need to be respective by adjusting Rotating speed is required with meeting speed.Now double-motor power system energy consumption is by motor M1Motor M2Energy consumption is collectively constituted.
The rotating speed of each motor and torque can couple lower two motor torques according to aforementioned double-motor power system rotating speed and turn The allocation strategy of speed draws.
Therefore, according to more than, each pattern Calculation Method of Energy Consumption is counted to each operating point energy consumption in equivalent driving force figure Calculate, it may be determined that in speed viWith demand torque TiIn the case of, the mode of operation of the energy minimum of consumption.Select each operating point The minimum mode of operation of upper energy consumption as electric automobile mode of operation, so as to realize carrying out mode division to equivalent driving force figure.
Preferably, in step 3, the checking double-motor power system control strategy reliability uses MATLAB/ Simulink simulation analysis：
Double-motor power system simulation model mainly includes condition model, pilot model, Full Vehicle Dynamics model, main biography Dynamic system model, planet coupling mechanism model, control strategy model, motor model and battery model.By MATLAB/ Simulink modules are modeled to modules successively, to carry out simulation analysis to double-motor power systematic function.It is positive imitative True flow process is as shown in figure 14.
Description of the drawings
Fig. 1 double-motor power coupled systems
Fig. 2 double-motor power system control strategy overall frameworks
The calculation process of Fig. 3 demand torques
Fig. 4 NEDC operating mode pedal apertures
Fig. 5 pedals aperture and load factor curve
The equivalent drivings of Fig. 6 are tried hard to
Fig. 7 compensated torque influence factors
Fig. 8 NEDC operating mode pedal aperture rates of change
Fig. 9 pedal aperture rates of change and aperture rate of change Relationship of Coefficients
Figure 10 gradient coefficient curves
Figure 11 mode of operations divide flow process
Figure 12 torque allocation flows
Figure 13 rotating speed allocation flows
Figure 14 Forward simulation flow processs
Figure 15 Torque-sharing strategies
Figure 16 rotating speed allocation strategies
Figure 17 mode of operations are divided
Figure 18 speed tracking situations
Figure 19 operating mode torque compensations
Figure 20 mode of operations are with time switch instances
Figure 21 motor M1Rotational speed and torque
Figure 22 motor M2Rotational speed and torque
Figure 23 operating mode NEDC battery SOCs
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples, but should not be construed above-mentioned theme of the invention Scope is only limitted to following embodiments.Without departing from the idea case in the present invention described above, known according to ordinary skill Know and customary means, make various replacements and change, all should include within the scope of the present invention.
With Chongqing Automobile Co., Ltd. model pure electric vehicle as object of study, its power index is the present embodiment： Max. speed vmaxFor 120km/h, hundred kilometers of acceleration time atFor 18s, max. climb slope ImaxFor 30%.The electric automobile whole Basic parameter as shown in table 1, and carries out double-motor power systematic parameter matching to which, as shown in table 2.
1 whole-car parameterses of table
2 power system parameter of table
Data below is obtained according to double-motor power system rotational speed and torque distribution method：
Figure 15 represents bi-motor Torque-sharing strategy exterior portion divided data, wherein automotive wheel when row represents that torque coupling works Demand torque, row represent target speed per hour scope, when corresponding numerical value represents torque coupling in form, motor M1Torque apportioning cost, Motor M2Torque can be by being calculated, and now electric automobile energy consumption is minimum.
Figure 16 represents electric automobile rotating speed allocation policy table, and in figure, correspondence numerical value is motor M when efficiency is higher1Distributed Rotating speed, motor M2Rotating speed can be by can be calculated.
Mode division, concrete dividing condition such as Figure 17 are carried out to equivalent driving force figure.
According to electric vehicle simulation model, input power systematic parameter, emulated by taking NEDC standard conditions as an example.Figure 18 Situation is followed for double-motor power system condition speed, as can be seen from Figure during whole operating mode, automobile speed is followed preferably, There is certain compensation ability in accelerator simultaneously, specifically compensation situation is as shown in figure 19.
When being driven using double-motor power system, according to operating mode speed and demand torque information, based on two motors Torque rotary speed allocation rule, the different working modes of Auto-matching bi-motor, so as to ensure that while power demand is met Relatively low energy consumption.In simulation process, double-motor power system operating mode is as shown in figure 20 with NEDC operating modes switch instances, Wherein " 0 " represents parking of automobile state；" 14 " represent four kinds of mode of operations respectively.
Therefore, according to double-motor power system operating mode during traveling, can clear and definite two motor working speeds and turn Square situation, as shown in Figure 21, Figure 22.
Understood using double-motor power system by above simulation analysis, electric automobile can meet trap for automobile traveling will Ask.Meanwhile, simulation analysis are carried out based on battery dump energy to double-motor power system, under NEDC operating modes, battery dump energy is bent Line, as shown in figure 23.When battery SOC is 10%, the electric automobile during traveling mileage of double-motor power system is 189.2km, compared with Former car is had a certain upgrade using single motor power system course continuation mileage 170km tools.

Claims (5)

1. a kind of pure electric automobile double-motor power system control strategy towards energy consumption, it is characterised in that comprise the following steps：
Step 1：Based on control information of the driver to accelerator pedal, while considering car status information (real-time speed, road slope Degree etc.), motor status (motor start and stop, torque rotary speed etc.) and battery information (temperature, dump energy) etc. be to motor requirement Torque is calculated in real time；
Step 2：It is on the basis of the result of calculation of demand torque, electric to two under torque coupling and rotating speed two kinds of mode of operations of coupling Machine realizes the optimum allocation of rotational speed and torque based on least energy consumption principle.
Step 3：On the basis of rotational speed and torque optimum allocation, double-motor power system is operated based on least energy consumption principle Mode division, that is, obtained pure electric vehicle vehicle double electric machine dynamical system control strategy, and its reliability entered by Simulink Row checking.
2. a kind of pure electric automobile double-motor power system control strategy towards energy consumption according to claim 1, which is special Levy and be：It is in step 1, described motor to be needed based on accelerator pedal information, vehicle-state, motor status and battery information etc. The process that torque carries out real-time calculating is asked to be：
The acquisition of demand torque is essentially under different road conditions and driver intention is parsed, to obtain running car institute The torque of demand, including basic torque and compensation torque, its relation is：
Treq=Tb+Tadd
Wherein, TbRepresent the basic torque needed for electric automobile during traveling；TaddIt is expressed as improving what Dynamic Performance of Electric Vehicle increased Compensation torque.
(1) consider battery information, to meeting during compensated torque：
S O C ( t ) ≥ S O C lim T ( t ) ≤ T lim
In formula, SOC (t) represents the real-time dump energy of electrokinetic cell, SOClimRepresent that electric automobile carries out power current during compensated torque The critical residual electricity in pond, T (t) represent electrokinetic cell real time temperature, TlimRepresent that electric automobile carries out power current during compensated torque The critical temperature in pond.
(2) consider motor information, to meeting during compensated torque：
γ = T b T v m a x ≤ 60 %
In formula, TvmaxFor the peak torque that electric automobile under speed v can be provided, γ represents motor load rate.
(3) determination of basic torque
Tb=l Tvmax=f (k) Tvmax
Wherein l is torque load coefficient, and f (k) is negative for torque in " concave shape " torque load coefficient and accelerator pedal opening curve The functional relationship of lotus coefficient l and accelerator pedal aperture k.
(4) compensation torque is obtained based on low energy consumption principle
Tadd=Tadd1+Tadd2
Wherein, Tadd1It is the compensation torque for accelerator pedal information setting, and meets：
T a d d 1 = ( T v m a x - T b ( k ) ) · a = ( T v m a x - T b ( k ) ) · m 1 d k d t
In formula, TbK () basic torque corresponding when being k for accelerator pedal aperture under speed v, a represent that accelerator pedal aperture changes Rate coefficient, m1Accelerate proportionality coefficient for anxious,For pedal aperture rate of change.
Tadd2Compensation torque when climbing for electric automobile, and meet：
Tadd2=(Tvmax-Tb(k)) b=(Tvmax-Tb(k))·m2θ
In formula, b be gradient coefficient, m2For proportionality coefficient of climbing, θ is the gradient.
3. a kind of pure electric automobile double-motor power system control strategy towards energy consumption according to claim 1, which is special Levy and be：It is in step 2, described that least energy consumption principle is based on to two motors under torque coupling and rotating speed two kinds of mode of operations of coupling The optimum allocation process for realizing rotational speed and torque is：
(1) torque coupling pattern Torque-sharing strategy
Under bi-motor torque coupling pattern, motor torque speed meets：
Treq=T1+T2=Ti,
Wherein, T1、T2Motor M is represented respectively1, motor M2Torque, n1、n2Motor M is represented respectively1, motor M2Rotating speed, Ti、vi Wheel driving force and speed of the automobile in operating point i are represented respectively.
As the present invention proposes that the torque coupling principle of double-motor power system is motor M1With motor M2Act on gear ring simultaneously On, as long as therefore two motor speeds meet automobile speed, two motor torques are relatively independent, can allow in working range arbitrarily at oneself Combination.To realize minimal energy consumption, two motor torque optimum allocation flow processs have been formulated.By the iterative process, can search out Meet speed v0Least energy consumption combination, two corresponding to which motor torque be in this case optimum torque combination.
(2) rotating speed CGCM rotational speed and torque allocation strategy
When rotating speed CGCM works, motor torque speed meets：
1 i 0 i 1 n 1 + 1 i 0 i 2 n 2 = v i 0.107
T 1 1 = T 2 α = T i 0 i 1
In formula, α represents planetary gear characteristic parameter.
During due to using motor rotating speed coupling driving, motor M1With motor M2There is fixed proportion between torque.Demand can be passed through To motor, each rotating speed enters row constraint for torque.Minimum principle is consumed with energy consumption of electrical machinery and formulates motor rotating speed allocation flow.
On the basis of motor torque is met, motor M need to be determined1With motor M2Operating rotational speed range.Torque according to demand can draw Motor M1With motor M2Moment of torsion, and then determine respective working speed.
4. a kind of pure electric automobile double-motor power system control strategy towards energy consumption according to claim 1, which is special Levy and be：In step 3, the double-motor power system operating mode partition process is：
Principle based on electric automobile the least energy cost is divided to double-motor power system operating mode, that is, determine equivalent The mode of operation of upper different operating point minimum power consumption is tried hard in driving：
E=min (E1,E2,E3,E4)
Wherein E1、E2、E3、E4The energy consumed during respectively four kinds of mode of operation.
(1) one energy consumption of mode of operation
The dynamical system energy consumption of mode of operation one is mainly relevant with motor working efficiency and decelerator efficiency.Meeting motor highest On the basis of rotating speed and torque capacity, now system energy consumption refers mainly to motor M1Input energy, then have
E 1 = n 1 · T 1 η 1 Δ t
Wherein, motor speedMoment of torsionTherefore one consumed energy of pattern is
E 1 = v i · T i 0.107 η 1 η T Δ t
In formula, η1Represent motor M1Real time Efficiency at operating point, Δ t represent time neighborhood of a point corresponding to motor Real time Efficiency Scope.
(2) two energy consumption of mode of operation
Two energy consumption calculation method of double-motor power system operating mode is identical with mode of operation one, turns motor highest is met On the basis of speed and torque capacity, then have
E 2 = v i · T i 0.107 η 2 η T Δ t
In formula, η2Represent motor M2Real time Efficiency at operating point.So when pattern one and two energy expenditure of pattern mainly by motor Real time Efficiency is determined.
(3) three energy consumption of mode of operation
In double-motor power system operating mode three, motor M1With motor M2Can be by coordinating respective torque to meet demand Torque, now both rotating speeds automatically adjust with speed.Therefore, now double-motor power system energy consumption by two energy consumption of electrical machinery it And composition, i.e.,
E 3 = E M 1 + E M 2 = ( n 1 · T 1 η 1 + n 2 · T 2 η 2 ) Δ t
Wherein EM1、EM2Motor M is represented respectively1, motor M2Energy consumption.The rotating speed of each motor and torque can save what is mentioned according to upper Double-motor power system torque couples the allocation strategy of lower two motor torques and draws.
(4) four energy consumption of mode of operation
In mode of operation four, on planetary mechanism sun gear and gear ring there is fixed relationship in torque, therefore only need to be by adjusting respective rotating speed To meet speed requirement.Now double-motor power system energy consumption is by motor M1Motor M2Energy consumption is collectively constituted.
E 4 = E M 1 + E M 2 = ( n 1 · T 1 η 1 + n 2 · T 2 η 2 ) Δ t
The rotating speed of each motor and torque can couple the distribution of lower two motor torque speeds according to double-motor power system rotating speed Strategy draws.
Therefore, according to more than, each pattern Calculation Method of Energy Consumption is calculated to each operating point energy consumption in equivalent driving force figure, Can determine that in speed viWith demand torque TiIn the case of, the mode of operation of the energy minimum of consumption.Select energy on each operating point Minimum mode of operation is consumed as electric automobile mode of operation, so as to realize carrying out mode division to equivalent driving force figure.
5. a kind of pure electric automobile double-motor power system control strategy towards energy consumption according to claim 1, which is special Levy and be：In step 3, the reliability demonstration to pure electric automobile double-motor power system control strategy is employed Simulink simulating analysis.
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