CN107688343A - A kind of energy control method of motor vehicle driven by mixed power - Google Patents
A kind of energy control method of motor vehicle driven by mixed power Download PDFInfo
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Abstract
The invention discloses a kind of energy control method of motor vehicle driven by mixed power, this method includes：(1) current system conditions, including vehicle speed of operation, driver pedal information, battery SOC, engine speed torque etc. are observed；(2) judge current EVT Mode state with driver pedal information according to vehicle speed of operation, and update current system model and system restriction, and assume that EVT Mode state keeps constant in prediction time domain；(3) the following speed in prediction time domain is predicted, obtains predicting systematic observation input quantity in time domain；(4) the structure forecast control optimization problem in prediction time domain, and numerical solution is carried out by dynamic programming algorithm online；(5) optimal control sequence in prediction time domain is calculated；(6) only with first group of optimum control amount, system is acted in the sampling instant, gives up remaining controlled quentity controlled variable；(7) this process is repeated in subsequent time, until traveling terminates.
Description
Technical field
The present invention relates to a kind of energy control method of vehicle, especially a kind of energy hole side of motor vehicle driven by mixed power
Method.
Background technology
Motor vehicle driven by mixed power is one of current effective way for solving vehicle energy and overrunning with air pollution quality.
Wherein double mode transmission system can better meet heavy non-rice habitats car compared to the hybrid power transmission scheme of other forms
The specific demands such as speed adjustable range is wide and driving power is big, but program structure is complex, and energy control method is wanted
Ask higher, the optimal energy control method that design to use in real time, which will turn into, ensures that double mode motor vehicle driven by mixed power can
The core content normally and efficiently run.
At present, most commonly used in industrial quarters is rule-based energy control method, and regular design mostly derives from
Heuristic finding and engineer experience, although its design is simple, it is easy to accomplish, it is poor to different adaptability for working condition, it can not obtain
To optimal control effect.In order to pursue more preferable control effect, academia has done substantial amounts of scientific research and explored based on optimization
Energy control method, its main thought is to establish aims of systems cost function and constraints, is solved by optimized algorithm
To optimum control amount.Wherein dynamic programming algorithm is most widely used, but it needs to know global operating mode in advance, so only
It can be used to emulate.Equivalent fuel consumption strategy can be used with real-time online, but be had for different operating mode Reliability equivalence factors hardly possible
The drawbacks of to set.And predictive control algorithm (Model Predictive Control, MPC) developed in recent years is adopted
Tested with multistep, the thinking of rolling optimization and feedback compensation, obtained good real-time control effect.This method is largely
Upper depend on effectively is predicted to following speed, assumes that following speed keeps constant in the prior art；Or assume speed
Exponentially change, these methods are simply but inaccurate；Or obtain vehicle future travel car by onboard navigation system
Speed；Or following speed is predicted by identifying the repetition operating mode of Special Work vehicle, these methods are needed by GPS system
Or priori work information, it is not particularly suited for no alignment system and perceives the off roader of radar.
The content of the invention
For problem above, the present invention proposes a kind of energy control method of motor vehicle driven by mixed power, using K averages
(Kmeans) clustering algorithm uses Markov Chain or radial direction base nerve by producing condition classification, and for different types of operating mode
The method of network is predicted to following speed, realizes the improvement of non-rice habitats double mode motor vehicle driven by mixed power performance.
The main object of the present invention is to provide a kind of energy control method of motor vehicle driven by mixed power.
The purpose of the present invention can be realized by following approach:
A kind of energy control method of motor vehicle driven by mixed power, this method include：
(1) current system conditions, including vehicle speed of operation, driver pedal information, battery SOC, engine turn are observed
Fast torque etc.；
(2) judge current EVT Mode state according to vehicle speed of operation and driver pedal information, and update current system
System model and system restriction, and assume that EVT Mode state keeps constant in prediction time domain；
(3) the following speed in prediction time domain is predicted, obtains predicting systematic observation input quantity in time domain；
(4) the structure forecast control optimization problem in prediction time domain, and numerical value is carried out by dynamic programming algorithm online and asked
Solution；
(5) optimal control sequence in prediction time domain is calculated；
(6) only with first group of optimum control amount, system is acted in the sampling instant, gives up remaining controlled quentity controlled variable；
(7) this process is repeated in subsequent time, until traveling terminates.
The energy control method of the motor vehicle driven by mixed power of the present invention, further, wherein according to following characteristics parameter：Most
High acceleration (m/s2), maximum deceleration (m/s2), average acceleration (m/s2), vehicle speed standard variance (km/h), max. speed
And the difference (km/h) of minimum speed, acceleration standard variance (m/s2) classify vehicle driving-cycle.
The energy control method of the motor vehicle driven by mixed power of the present invention, further, wherein using K mean cluster algorithm, lead to
Cross and calculate the close and distant degree between sample to carry out data classification, finally realize that the data in same class have larger feature phase
Like property, then differed greatly between inhomogeneity, specific operating mode judgment step is as follows：
Off-line phase：(1) multiple standard cycle operating modes are combined and forms sample；
(2) each sampling instant calculates the operating mode feature parameter of 10 seconds in the past in state of cyclic operation, obtains characteristic parameter sample
Notebook data [x11,x12,...,x1m], [x21,x22,...,x2m] ... ..., [xn1,xn2,...,xnm], wherein m is characterized parameter sequence
Number, n is state of cyclic operation length；
(3) K mean cluster algorithm is applied, randomly selects cluster centre c1=[c11,c12,...,c1m], c2=[c21,
c22,...,c2m], the distance of all samples and cluster centre is calculated, and sample is grouped according to Nearest Neighbor Method, ownership is different
θm(k) Clustering Domain, wherein k are iterations, then adjust cluster centre as the following formula：
If cm(k+1)≠cm(k), then continue to adjust cluster centre, until cluster centre no longer changes, then it is assumed that classification
It is stable, obtain the cluster centre c1 of steady operating mode and the cluster centre c2 of fast variable working condition；
On-line stage：(1) during vehicle actual travel, current sample time calculate over 10 seconds operating mode it is special
Levy parameter value [x1,x1,...,xm]；
(2) characteristic ginseng value [x is calculated according to following formula1,x1,...,xm] to two cluster centres c1 and c2 distance d：
In formula：J=1,2 correspond to two class operating modes；
(3) if d1≤d2, then current time is judged for steady operating mode, if d1＞ d2, then current time is judged to exchange work soon
Condition.
The energy control method of the motor vehicle driven by mixed power of the present invention, further, wherein assuming that vehicle exists under steady operating mode
The acceleration at each moment is unrelated with historical information, is only determined by current information, it is thus regarded that the acceleration change of vehicle is one
Kind markoff process, the changing rule of speed and acceleration is simulated using Markov chain model, and under steady operating mode
Following speed is predicted.
The energy control method of the motor vehicle driven by mixed power of the present invention, further, wherein for fast variable working condition, with footpath
It is theoretical to base neural net, the prediction of following speed is carried out by the study online to driver's driving behavior.
The present invention motor vehicle driven by mixed power energy control method, further, wherein radial basis neural network according to
According to history speed and current driver's pedal information, following speed is predicted, meanwhile, current caused information of vehicles is conduct
New historical information, by self-organizing center choose and pseudoinverse technique determine the method for weights realize neutral net it is adaptive
Line learns.
Brief description of the drawings
Fig. 1 is a kind of double mode hybrid vehicle system structural representation.
Fig. 2 is the energy control method flow chart of the present invention.
Fig. 3 is the state of cyclic operation schematic diagram that the present invention combines.
Fig. 4 is the Markov chain model transition probability matrix figure of the present invention.
Fig. 5 is the radial base neural net speed prediction structure chart of the present invention.
Fig. 6 is the online operating mode judged result figure of the present invention.
Fig. 7 is the speed prediction result figure of the present invention.
Fig. 8 is part state of cyclic operation prediction error comparison diagram.
Fig. 9 be the present invention speed, EVT Mode, battery SOC simulation result figure.
Figure 10 is the engine of the present invention, motor A and motor B rotational speed and torque simulation result figure.
Figure 11 is the engine working point distributed simulation result figure of the present invention.
Figure 12 is the engine working point simulation result contrast of the present invention：(a) PREDICTIVE CONTROL, (b) keep control, and (c) is dynamic
State plans that (d) is regular.
Figure 13 is the battery SOC simulation result contrast of the present invention：(a) PREDICTIVE CONTROL, (b) keep control, and (c) dynamic is advised
Draw, (d) rule.
Embodiment
Illustrate the embodiment of the present invention by taking certain type double mode motor vehicle driven by mixed power as an example.System architecture such as Fig. 1 institutes
Show, major parameter is as shown in table 1.Two kinds of hybrid electric working pattern EVT1 (Electronically Controlled of system
Continuously Variable Transmission, EVT) switching of pattern and EVT2 patterns can be by manipulating clutch
Device and brake realize that work as clutch separation, brake is EVT1 patterns when engaging；When clutch engages, brake separates
When be EVT2 patterns.
The double mode motor vehicle driven by mixed power major parameter of table 1
In the modeling of Control-oriented, ignore planetary gear inertia and each element between friction, and assume connection be all
It is rigid, actuation system models can be obtained,
EVT1 patterns：
EVT2 patterns：
In formula：k1, k2, k3The intrinsic parameter of respectively three planet rows, ωA, ωBFor motor A, B rotating speed, TA, TBFor
Motor A, B torque, ωi, ωoFor coupling mechanism input and output end rotating speed, Ti, ToRespectively coupling mechanism input and
Output end torque.
Simultaneously because the mechanical connection between part, system also meet relationship below：
ωe=iqωi (5)
V=rwωo/if (6)
Te=Ti/iq (7)
Tw=ifTo (8)
In formula：ωeFor engine speed, TeFor motor torque, V is speed, TwFor output torque on wheel, iqTo be preceding
Transmission gear ratio, rwFor radius of wheel, ifFor rear transmission gear ratio.
Engine mockup uses the MAP model constructed by test data, it is assumed that engine preheats completely, its fuel oil
Consumption rate is the static function of rotational speed and torque：
In formula：mfConsumed for engine fuel, feFor MAP.
The state-of-charge SOC of battery is a significant variable in motor vehicle driven by mixed power energy control method, is used here
Internal resistance model modeling, and ignore the influence of temperature, obtain following SOC expression formulas：
In formula：VocFor battery open circuit voltage, RbattFor the internal resistance of cell, CbattFor battery capacity, ηA, ηBRespectively motor A, B
Efficiency, index kA, kBWhen motor charges the battery, equal to 1, when motor is battery discharge, equal to -1.
Lateral direction of car and vertical motion are not considered, ignores the gradient, then can obtain vehicle according to vehicle traveling equilibrium equation moves
Mechanical model：
In formula：M is complete vehicle quality, and ρ is atmospheric density, CdFor coefficient of air resistance, AfFor vehicle front face area, μ is wheel
Coefficient of rolling resistance, g are acceleration of gravity.
The energy control method main purpose of double mode motor vehicle driven by mixed power is to meet traveling demand and system restriction
Under the conditions of, online reasonable distribution demand power, engine working point is adjusted, to obtain more preferably fuel economy, and maintain electricity
Pond SOC.The present invention carries out the real-time optimization of power distribution based on predictive control algorithm online, chooses engine speed and torque
For system control amount u, definition system state amount is x, and systematic observation input quantity is v, and system output quantity is y, then can will be towards
Control system model is expressed as：
In formula：X=[SOC], u=[Te ωe]T, v=[V Tw]T,
In each sampling instant k, predict that the optimization object function in time domain is：
In formula：wsAnd wmThe respectively weight coefficient of respective items, SOCrFor battery SOC reference value, P is prediction time domain.Together
When, following physical constraint needs to be satisfied：
In formula：*_maxWith *_minThe respectively bound of respective items.
By system model discretization during solving-optimizing problem, because prediction time domain is shorter, and battery SOC each moment can
Row domain scope is small, so dynamic programming algorithm can be used to online Real-time solution optimization problem, it is assumed that U*(k)=[u*
(k),...,u*(k+P-1) it is] the optimum control amount sequence in prediction time domain, then controlled quentity controlled variable used by current time system
For
U (x (k))=u*(k) (15)
The core concept of PREDICTIVE CONTROL is exactly to be asked in each sampling instant solving an optimization in limited prediction time domain
Topic, the optimal control sequence in prediction time domain is calculated, but only implement the optimum control of the sampling instant and give up other controls
Amount, then repeat this process in next sampling instant.PREDICTIVE CONTROL is used for double mode motor vehicle driven by mixed power energy control method
In, you can according to current driver's pedal information, and the information of vehicles such as speed, battery SOC, engine speed torque are combined, led to
Cross real-time optimization and carry out power distribution, improve VE Vehicle Economy.Due to whole state of cyclic operation can not be predicted, so the plan
Summary can not obtain globally optimal solution, but be their ability to on-line implement, and global near-optimization is obtained by way of rolling optimization
Solution, while can take into account uncertain caused by the factors such as model mismatch, interference so that control keeps the optimal of reality.
In each sampling instant k, energy control method flow chart is as shown in Fig. 2 specifically, will follow the steps below：
(1) current system conditions, including vehicle speed of operation, driver pedal information, battery SOC etc. are observed.
(2) judge current EVT Mode state with driver pedal information according to vehicle speed of operation, and update current system
Model and system restriction.And assume that EVT Mode state keeps constant in prediction time domain.
(3) the following speed in prediction time domain is predicted, obtains predicting systematic observation input quantity v in time domain, in detail
Method will be introduced below.
(4) the structure forecast control optimization problem in prediction time domain, and numerical value is carried out by dynamic programming algorithm online and asked
Solution.
(5) optimal control sequence in prediction time domain is calculated.
(6) only with first group of optimum control amount, system is acted in the sampling instant, gives up remaining controlled quentity controlled variable.
(7) this process is repeated in subsequent time.
It is how rationally accurate using vehicle history and current data in the case of no any driving cycle prior information
Prediction vehicle future speed, will largely influence energy control method effect of optimization.The present invention is gathered using K averages
Producing condition classification is steady operating mode and the fast class of variable working condition two under off-line state by class algorithm, and in on-line stage real-time judge car
It is presently in operating mode classification.For steady operating mode, using based on markovian speed prediction method, and become for fast
Operating mode, using the speed prediction method based on radial base neural net, the advantages of comprehensively utilizing two methods with this, is to reach most
Excellent prediction effect.Meanwhile it will predict that speed substitutes into the demand torque that formula (11) can be calculated in prediction time domain.
Steady operating mode and fast variable working condition main difference is that the size of the fluctuation of speed and acceleration in operating mode, in order to
Two kinds of operating mode types are distinguished, it is necessary to according to the characteristic parameter in operating mode by two kinds of producing condition classifications, table 2 is the operating mode feature chosen
Parameter.
The operating mode feature parameter of table 2
Using K mean cluster algorithm, data classification is carried out by calculating the close and distant degree between sample, is finally realized same
Data in class have larger characteristic similarity, are then differed greatly between inhomogeneity, and specific operating mode judgment step is as follows：
Off-line phase：(1) multiple standard cycle operating modes are combined and forms sample, as shown in Figure 3.
(2) each sampling instant calculates the operating mode feature parameter of 10 seconds in the past in state of cyclic operation, obtains characteristic parameter sample
Notebook data [x11,x12,...,x1m], [x21,x22,...,x2m] ... ..., [xn1,xn2,...,xnm], wherein m is characterized parameter sequence
Number, n is state of cyclic operation length.
(3) K mean cluster algorithm is applied, randomly selects cluster centre c1=[c11,c12,...,c1m], c2=[c21,
c22,...,c2m], the distance of all samples and cluster centre is calculated, and sample is grouped according to Nearest Neighbor Method, ownership is different
θm(k) Clustering Domain, wherein k are iterations, then adjust cluster centre as the following formula：
If cm(k+1)≠cm(k), then continue to adjust cluster centre, until cluster centre no longer changes, then it is assumed that classification
It is stable, obtain the cluster centre c1 of steady operating mode and the cluster centre c2 of fast variable working condition.
On-line stage：(1) during vehicle actual travel, the operating mode feature of 10 seconds is calculated in current sample time
Parameter value [x1,x1,...,xm]。
(2) characteristic ginseng value [x is calculated according to following formula1,x1,...,xm] to two cluster centres c1 and c2 distance d：
In formula：J=1,2 correspond to two class operating modes.
(3) if d1≤d2, then current time is judged for steady operating mode, if d1＞ d2, then current time is judged to exchange work soon
Condition.
Assuming that vehicle is unrelated with historical information in the acceleration at each moment, only determined by current information, it is thus regarded that car
Acceleration change be a kind of markoff process, here can using Markov chain model come simulate speed with plus
The changing rule of speed, and following speed is predicted under steady operating mode[18,19]。
According to different driver pedal aperture α≤0,0 ＜ α≤0.2,0.2 ＜ α≤0.4,0.4 ＜ α≤0.6,0.6 ＜ α
≤ 0.8,0.8 ＜ α≤1, establish six groups of corresponding single order Markov chain models.Each group of Markov chain model is by car
Fast V (0 to 30m/s) and acceleration a (- 1.5 to 1.5m/s2) discrete mesh space is formed, definition car speed is current shape
State amount, p section is divided into, is indexed by i ∈ { 1 ..., p }, definition vehicle acceleration is subsequent time output quantity, will
It is divided into q section, is indexed by j ∈ { 1 ..., q }.Then the transition probability matrix T of each group of Markov chain model can be with
It is expressed as：
In formula：n∈{1,...,NpIt is the required object time for predicting speed, T in prediction time domainijFor at current time
Vehicle velocity Vk+n=ViIn the case of, vehicle acceleration is developed to a in subsequent timejProbability.
In an initial condition, the steady operating mode of selection typical case, Markov chain model transition probability is calculated according to following formula
Matrix,
In formula：NijIt is that i subsequent times are the number that j occurs for current time.It is in driver pedal aperture shown in Fig. 4
During 0 ＜ α≤0.2, Markov chain model transition probability matrix.
In real time execution, Markov chain model needs online self-recision with the change of adaptation condition, when current
K is carved, if previous moment vehicle velocity Vk-1=Vi, this moment generation ak=aj, then Markov chain tra nsfer probability square under this event
Battle array adaptive correction be：
T(k)ij=T (k-1)ij+λ (20)
In formula：S ∈ { 1 ..., q }, s ≠ j, λ are adaptation coefficient.Formula (20) observes this thing occurred at current time
Part, and by the probability amendment of this event in Markov Chain transition probability matrix, formula (21) is corrected should when this event occurs
The probability of other output valves under state.It is noted that during actual adaptive correction, current time transition probability matrix
In only a row probability data be updated, other probability keep constant.
According to above Markov chain model, you can predict subsequent time vehicle acceleration in current time k, and obtain
Subsequent time speed：
Similarly, predict that the speed at each moment in time domain can be calculated by last moment speed：
In formula：N≤P is each object time in prediction time domain.
Following speed can effectively be predicted under steady operating mode based on markovian Forecasting Methodology, but become soon
Under operating mode can not effectively learner driver's behavior, cause its precision of prediction poor.So for fast variable working condition, present invention fortune
It is theoretical with radial base neural net, the prediction of following speed is carried out by the study online to driver's driving behavior.
Radial base neural net is a kind of partial approximation network, compared to the neutral net of other forms, its convergence rate
Fast and amount of calculation is small, is best suitable for being applied to the online speed prediction of motor vehicle driven by mixed power[20].Here, neural network model is defined
Input NinFor driver pedal information and the speed of the past period：
Nin=α, Vk,Vk-1,...,Vk-Hh (24)
In formula：HhFor past speed vector length.The output N of modeloutFor the prediction speed of following a period of time：
Nout=Vk+1,Vk+2,...,Vk+P (25)
Neuron uses Gaussian function as RBF in hidden layer：
In formula：yjExported for neutral net, ωijTo export weights, bfFor the default neuron threshold value of developer, x is god
Through network inputs, ciFor neuron node center, σ is neuron RBF diffusion breadth, and h is hidden layer nodes.Such as
This, you can obtain the nonlinear neural network model of speed prediction：
[Vk,Vk+1,...Vk+P]=fn[α,Vk,Vk-1,...,Vk-Hh] (27)
In formula：fnMapped for radial base neural net, its structure is as shown in Figure 5.
Set HhFor 9, i.e., history speed is 10 speed amounts in the past, then the radial base neural net input quantity is 11,
Speed is predicted as following 5 seconds speed, then neutral net output quantity is 5, and neuron number is equal with input quantity number, i.e. h
=10.In vehicle travel process, radial basis neural network foundation history speed and current driver's pedal information, in advance
Measure following speed, meanwhile, it is current caused by information of vehicles be used as new historical information, by self-organizing center choose with
Pseudoinverse technique determines that the method for weights realizes the adaptive on-line study of neutral net[21]。
In order to verify the validity of energy control method proposed by the present invention, emulation examination has been carried out under Matlab environment
Test.Energy control method sampling time interval is set in emulation as 1 second, this can both ensure the stable control of system dynamic course
System, can allow larger control amount of calculation again.It is P=5 seconds, battery SOC initial value and reference value to concurrently set prediction time domain
It is all 0.65, simulation result is as shown in Figure 6.
Fig. 6 is shown during emulation online, for the comprehensive state of cyclic operation of a typical case, the operating mode category result judged.
As can be seen from Figure, when car speed drastically changes, as 370s to 440s, 980s to 1030s and 1160s to 1220s it
Between, operating mode is judged as fast variable working condition；And in the fluctuation of speed small range or the slow acceleration and deceleration of vehicle, such as 600s to 700s and
For 1220s between 1900s, operating mode is judged as steady operating mode, it is possible thereby to illustrate the validity of operating mode classification determination methods.
Fig. 7 show the displaying directly perceived of speed prediction result, it can be seen that the car proposed by the present invention within the most of the time
Fast Forecasting Methodology can be accurately predicted.
In order to further reasonably by data comparison evaluation and foreca result, introduce root-mean-square error (Root Mean here
Square Error, RMSE) it is used as evaluation index.RMSE is by calculating the standard deviation table of difference between sample value and actual value
Sample precision is levied, suitable for for contrasting predicted value and actual value, its calculation formula is as follows：
In formula：RMSE (k) is that root-mean-square error value of k-th of sampled point in prediction time domain, RMSE are in state of cyclic operation
The root-mean-square error value of whole state of cyclic operation, NcFor whole state of cyclic operation sampled point number, Vc(k+i) it is kth in state of cyclic operation
The true speed of ith sample point after individual sampled point.
Under same state of cyclic operation, the Forecasting Methodology for participating in contrast has：Prediction is kept, that is, predicts that speed keeps constant；Horse
Er Kefu chains are predicted, i.e., whole to carry out speed prediction based on Markov Chain；Neural network prediction, i.e., it is whole to be based on radial direction base
Neutral net carries out speed prediction；Integrated forecasting, i.e., overall speed Forecasting Methodology proposed by the present invention.The contrast of simulation result
As shown in table 3.
The different Forecasting Methodology results contrasts of table 3
Holding prediction RMSE it can be seen from table as benchmark is higher, and precision of prediction is poor, and integrated forecasting combines
The advantages of Markov Chain prediction and neural network prediction, its RMSE is minimum, and precision of prediction is optimal, and 31% is improved compared with benchmark
Left and right.
Fig. 8 is shown in the state of cyclic operation of part, and integrated forecasting is predicted with Markov Chain and neural network prediction is each
Following 5th second prediction error contrasts in sampling instant prediction time domain, and left side first is classified as state of cyclic operation 980s extremely in figure
Prediction between 1030s, it can be seen that now operating mode is judged as fast variable working condition, and integrated forecasting uses neural network prediction, its
As a result it is substantially better than Markov Chain prediction.Second is classified as state of cyclic operation 600s to the prediction between 700s in figure, now speed
Fluctuation is smaller, and operating mode is judged as steady operating mode, and integrated forecasting predicts that its result is also significantly better than nerve using Markov Chain
Neural network forecast.
Fig. 9 show speed, EVT Mode, the simulation result of battery SOC, as can be seen from Figure, actual vehicle speed substantially with
Target vehicle speed is consistent, and battery SOC is able to maintain that near 0.65 and fluctuated, and illustrates that energy control method can be full first
In the case of sufficient operator demand, battery SOC is maintained well, and hair is supplemented by the consumption of electric energy to a certain extent
The energy that motivation provides less, preferably to adjust engine working point.
Figure 10 show engine under the operating mode, motor A and motor B rotating speed and torque, as can be seen from Figure, starts
The machine fluctuation of speed is smaller, and this is due to that road surface decouples with engine, and the speed adjusting performance of motor is much better than engine again so that car
The fluctuation of speed is mainly made up by the rotation speed change of two motors.And the torque of motor is due to relatively small, so being become by road surface
The motor torque fluctuation changed and triggered can only be made up by motor to a certain extent.
Figure 11 show engine working point distribution map under the operating mode, it can be seen that energy control method can be preferable
Adjust engine working point so that engine can be operated near optimal fuel-economy curve in most cases, hair
Motivation operating efficiency is higher, and it is more excellent also to allow for vehicle economy.
It is proposed by the present invention based on improvement of the energy control method of PREDICTIVE CONTROL to vehicle performance in order to further verify,
Simulation results of the multiple kinds of energy control method under different operating modes will be contrasted herein, wherein the strategy for participating in contrast has：In advance
Observing and controlling system, i.e., energy control method proposed by the present invention；Control is kept, that is, assumes that speed keeps constant and uses PREDICTIVE CONTROL
Energy control method；Dynamic Programming, that is, assume operating mode, it is known that globally optimal solution can be obtained；Rule, i.e., it is rule-based
Energy control method, for as benchmark to be hoisted.Comparing result is as follows：
Figure 12 show the simulation result contrast of engine working point distribution, and as can be seen from Figure, PREDICTIVE CONTROL is with protecting
It is similar to Dynamic Programming to hold the resulting result of control, and the distribution of the engine working point of PREDICTIVE CONTROL controls compared to holding
High efficient district is more concentrated on, and the result obtained by rule is then poor, engine is then often operated in poorly efficient area.
Figure 13 show the simulation result contrast of battery SOC, and as can be seen from Figure, PREDICTIVE CONTROL is one with keeping control
Kind real-time optimization, what is obtained is locally optimal solution, and its result is similar with the globally optimal solution obtained by dynamic rules, and regular
Result SOC it is excessively stable, it is very big with the result difference of Dynamic Programming, effectively pass through the fluctuation regulation hair of battery SOC
Motivation, control effect are poor.
Table 4 show simulation result contrast of the different-energy control method under different state of cyclic operations.Due to based on prediction
The energy control method of control is a kind of real-time optimization, can not ensure the battery SOC and initial time of state of cyclic operation end time
Identical, so for fair comparison, it is necessary to consider the consumption of electric energy simultaneously, foundation energy prices are electric by end time here
Pond SOC is converted and is obtained equivalent fuel consumption,
In formula, Ec,s, Fc,sWith Δ SOCc,sRespectively correspond to the equivalent fuel consumption of state of cyclic operation and optimization method, fuel oil
Consumption and battery SOC changing value,To convert electrical energy into the transforming factor of fuel oil, the price of current diesel oil by energy prices
For 5.54 yuan/liter, the price of electric energy is 0.9 yuan/degree.For the improvement of vehicle economy, pre- observing and controlling it can be seen from table
System is relatively regular to have larger lifting close to Dynamic Programming, and better than control is kept, has compared to benchmark maximum up to 18%
Lifting.
The different-energy control method simulation result of table 4 contrasts
Contrasted by the analysis to simulation result, demonstrate the validity of the speed prediction method of the present invention, accuracy carries
31% is risen, while also demonstrates the validity based on PREDICTIVE CONTROL energy control method, the relatively regular strategy of fuel economy has
18% lifting.
Certainly, described above is only one embodiment of the present invention, it should be pointed out that the common skill of the art
For art personnel, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these are improved and profit
Decorations are belonged within the protection domain of the claims in the present invention.
Claims (7)
1. a kind of energy control method of motor vehicle driven by mixed power, this method include：
(1) current system conditions, including vehicle speed of operation, driver pedal information, battery SOC, engine speed turn are observed
Square etc.；
(2) judge current EVT Mode state with driver pedal information according to vehicle speed of operation, and update current system model
With system restriction, and assume prediction time domain in EVT Mode state keep it is constant；
(3) the following speed in prediction time domain is predicted, obtains predicting systematic observation input quantity in time domain；
(4) the structure forecast control optimization problem in prediction time domain, and numerical solution is carried out by dynamic programming algorithm online；
(5) optimal control sequence in prediction time domain is calculated；
(6) only with first group of optimum control amount, system is acted in the sampling instant, gives up remaining controlled quentity controlled variable；
(7) this process is repeated in subsequent time, until traveling terminates.
2. energy control method according to claim 1, wherein predicting following speed according to following classification Forecasting Methodology：
Vehicle driving-cycle is categorized as steady operating mode and the fast class of variable working condition two under off-line state using K mean cluster algorithm,
And it is presently in operating mode classification in on-line stage real-time judge vehicle；
For steady operating mode, using based on markovian speed prediction method, and fast variable working condition is directed to, using based on radially
The speed prediction method of base neural net, the advantages of two methods are comprehensively utilized with this prediction effect to be optimal.
3. energy control method according to claim 2, wherein according to following characteristics parameter：Peak acceleration (m/s2),
Maximum deceleration (m/s2), average acceleration (m/s2), vehicle speed standard variance (km/h), the difference of max. speed and minimum speed
(km/h), acceleration standard variance (m/s2) classifies vehicle driving-cycle.
4. energy control method according to claim 2, wherein using K mean cluster algorithm, by calculating between sample
Close and distant degree carries out data classification, finally realizes that the data in same class have a larger characteristic similarity, between inhomogeneity
Then differ greatly, specific operating mode judgment step is as follows：
Off-line phase：(1) multiple standard cycle operating modes are combined and forms sample；
(2) each sampling instant calculates the operating mode feature parameter of 10 seconds in the past in state of cyclic operation, obtains characteristic parameter sample number
According to [x11,x12,...,x1m], [x21,x22,...,x2m] ... ..., [xn1,xn2,...,xnm], wherein m is characterized parameter ordinal number, n
For state of cyclic operation length；
(3) K mean cluster algorithm is applied, randomly selects cluster centre c1=[c11,c12,...,c1m], c2=[c21,c22,...,
c2m], the distance of all samples and cluster centre is calculated, and sample is grouped according to Nearest Neighbor Method, belong to different θm(k) cluster
Domain, wherein k are iterations, then adjust cluster centre as the following formula：
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If cm(k+1)≠cm(k), then continuing to adjust cluster centre, until cluster centre no longer changes, then it is assumed that classification is stable,
Obtain the cluster centre c1 of steady operating mode and the cluster centre c2 of fast variable working condition；
On-line stage：(1) during vehicle actual travel, the operating mode feature parameter of 10 seconds is calculated in current sample time
It is worth [x1,x1,...,xm]；
(2) characteristic ginseng value [x is calculated according to following formula1,x1,...,xm] to two cluster centres c1 and c2 distance d：
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In formula：J=1,2 correspond to two class operating modes；
(3) if d1≤d2, then current time is judged for steady operating mode, if d1＞ d2, then judge current time for fast variable working condition.
5. energy control method according to claim 2, wherein assuming acceleration of the vehicle at each moment under steady operating mode
Degree is unrelated with historical information, is only determined by current information, it is thus regarded that the acceleration change of vehicle is a kind of markoff process,
The changing rule of speed and acceleration is simulated using Markov chain model, and following speed is carried out in advance under steady operating mode
Survey.
6. energy control method according to claim 2, wherein for fast variable working condition, managed with radial base neural net
By passing through the study online to driver's driving behavior and carry out the prediction of following speed.
7. energy control method according to claim 2, wherein radial basis neural network are according to history speed and work as
Preceding driver pedal information, following speed is predicted, meanwhile, current caused information of vehicles leads to i.e. as new historical information
Cross the selection of self-organizing center and pseudoinverse technique determines that the method for weights realizes the adaptive on-line study of neutral net.
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