CN108657170A - A kind of multi-axle heavy type hybrid vehicle power unit power optimization control method - Google Patents

A kind of multi-axle heavy type hybrid vehicle power unit power optimization control method Download PDF

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CN108657170A
CN108657170A CN201810384295.5A CN201810384295A CN108657170A CN 108657170 A CN108657170 A CN 108657170A CN 201810384295 A CN201810384295 A CN 201810384295A CN 108657170 A CN108657170 A CN 108657170A
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engine
power
torque
rotating speed
aim
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CN108657170B (en
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杨松樸
宫佳鹏
骆志伟
杨波
何刚
付进军
韦学中
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China Academy of Launch Vehicle Technology CALT
Beijing Institute of Space Launch Technology
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China Academy of Launch Vehicle Technology CALT
Beijing Institute of Space Launch Technology
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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
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/15—Control strategies specially adapted for achieving a particular effect
    • 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
    • B60W20/20—Control strategies involving selection of hybrid configuration, e.g. selection between series or parallel configuration
    • 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
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0666—Engine power
    • 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
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0676—Engine temperature
    • 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
    • B60W2710/0644—Engine 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0666—Engine torque
    • 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
    • B60W2710/0677—Engine power
    • 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
    • B60W2710/083—Torque
    • 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
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems
    • 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

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Hybrid Electric Vehicles (AREA)

Abstract

A kind of multi-axle heavy type hybrid vehicle power unit power optimization control method with reference to engine test bench characteristic curve, demarcates power unit power points under gamut rotating speed, determines the optimum working zone of engine discretization；Power unit real-time reception target output instructs, and when engine enters generating state, determines realistic objective power；Power unit is according to engine present output power and realistic objective power, it then follows the principle that rotational speed regulation minimizes determines target operation points and switched in optimum working zone, completes engine power switching control.The present invention uses the control method of variable speed/torque, and power unit operating point is made to be in best effort area always, and takes into account the rapidity of power output response, can realize the raising of two aspects of response speed and fuel economy.

Description

A kind of multi-axle heavy type hybrid vehicle power unit power optimization control method
Technical field
The purpose of the present invention is to provide a kind of multi-axle heavy type hybrid vehicle power unit power optimization control strategy, Applied to hybrid vehicle energy management technical field.
Background technology
Power unit is one of the important electric power energy of multi-axle heavy type hybrid power spy's entrucking vehicle, and component part is main Including Auxiliary Power Unit (APU), engine, engine controller, generator, engine controller, therefore power unit work( Rate optimal control is one of the core technology of vehicle energy management technology.
In the control of general power unit, engine power control generally use determines the mode of rotating speed control, engine Rated speed (or the size of power switches under two rotating speeds according to demand) is always worked in, generator torque control is passed through It makes to complete the output of different capacity.This mode is primarily present following limitation：A. in the traffic coverage of engine, Only fraction is in the Effec-tive Function area of engine.Therefore engine operating efficiency is low, fuel economy is poor；B. work as underloading It is suddenly switching to when overloaded, be influenced by selected engine dynamic characteristic itself, output power response speed is very slow.
Invention content
The technology of the present invention solves the problems, such as：It is dynamic that the purpose of the present invention is to provide a kind of multi-axle heavy type hybrid vehicles Power cell power Optimal Control Strategy, the control strategy can realize response in the tracing control of power unit power output The raising of two aspects of speed and fuel economy improves operational efficiency, fuel economy and the power switching of power unit Response speed.
Technical solution of the invention is：A kind of multi-axle heavy type hybrid vehicle power unit power optimization controlling party Method is accomplished in the following manner：
Under gamut rotating speed, with reference to engine test bench characteristic curve, power unit power points is demarcated, determination is started The optimum working zone of machine discretization；
Power unit real-time reception target output instructs, and when engine enters generating state, determines realistic objective Power；
Power unit is according to engine present output power and realistic objective power, it then follows the original that rotational speed regulation minimizes Then, target operation points are determined in optimum working zone and are switched over, and engine power switching control is completed.
Further, the optimum working zone of the engine discretization is determined by following manner：
According to power unit external characteristics calibration experiment, engine speed-torque coordinate figure is determined；The rotary speed-torque Coordinate diagram abscissa is rotating speed, ordinate is torque, and each rotating speed, torque correspond to an operating point；
Region where meeting all working point of following two constraints is the optimum working zone of engine discretization：
A, in the case where determining speed conditions, do not stop working to engine impact or anticlimax torque, engine；
B, fuel consumption rate≤215g/ (kWh) of the engine when operating point works.
Further, according to real work needs, engine speed-torque coordinate figure can be divided into four Operational Zones Domain, respectively optimum working zone, unusable area, unstable region and remaining area；Wherein, unusable area is discontented The region of sufficient engine condition, unstable region are in the case where determining speed conditions, to engine impact or anticlimax torque, hair There is flame-out region in motivation.
Further, realistic objective power PaimDetermine that steps are as follows：
Judge that engine is capable of the threshold limit value of output power at this time according to engine coolant temperature；The work(if demand generates electricity Rate is less than this threshold limit value, then realistic objective power PaimAs demand power at this time, otherwise realistic objective power PaimIt is upper State threshold limit value.
Further, the principle for following rotational speed regulation minimum is the target output work in optimum working zone In all working point on rate constant power curve, the point for differing minimum with the engine speed of present operating point is found out as target Operating point.
Further, the switching from present operating point to target operation points, it is if locked-in torque, then optimal in best work Make in region, is switched over along upward straight path or upward convex right angle folding track switches over；If reduction Torque, then it is optimal in optimum working zone, it is switched over along downward straight path or downwardly convex right angle folding Track switches over.
Further, the switching from present operating point to target operation points is realized especially by following step：
The first step, judges whether current power output less than realistic objective power turns second step if being less than, and otherwise, turns 4th step；
Second step inquires the peak torque T under engine current rotating speed in optimum working zone0MaxIf T0MaxIt is less than Target torque Taim, then motor torque is adjusted to and determines torque Tc=T0Max, turn third step after the completion of adjusting；Otherwise, will start Machine torque, which is adjusted to, determines torque Tc=Taim, turn third step after the completion of adjusting；
Third walks, and adjusts the rotating speed of engine until reaching given rotating speed nc=naim, complete switching；Wherein naimFor target The corresponding rotating speed of target in operating point；
4th step inquires the minimal torque T under engine current rotating speed in optimum working zone0MinIf T0MinIt is more than Target torque Taim, then motor torque is adjusted to and determines torque Tc=T0Min, turn the 5th step after the completion of adjusting；Otherwise, will start Machine torque, which is adjusted to, determines torque Tc=Taim, turn the 5th step after the completion of adjusting；
5th step adjusts the rotating speed of engine until reaching given rotating speed nc=naim, complete switching.
Further, this method carries out hardware realization using APU, by the embedded programming of engine controller, realizes Power unit power tracking controls.
The present invention has the beneficial effect that compared with prior art：
The present invention proposes a kind of multi-axle heavy type hybrid vehicle power unit power optimization control strategy, the control strategy It optimizes traditional engine and determines rotating speed control mode, using APU as hardware carrier, using the control method of variable speed/torque, make Power unit operating point is in best effort area always, and takes into account the rapidity of power output response, can realize response speed With the raising of two aspects of fuel economy.
The present invention is capable of providing with a kind of effective power unit scaling method；
Poewr control method proposed by the present invention can realize efficient, low emission, the power unit output of high response speed And power switching control.
Description of the drawings
Fig. 1 is power unit calibration result figure of the present invention；
Fig. 2 is power unit power output control flow chart of the present invention；
Fig. 3 is that the selection of target operation points of the present invention and operating point switch route signal；
Fig. 4 is power closed-loop control flow of the present invention.
Specific implementation mode
Below in conjunction with the accompanying drawings and example elaborates to the present invention.
A kind of multi-axle heavy type hybrid vehicle power unit power optimization control method of the present invention passes through following manner reality It is existing：
Under gamut rotating speed, with reference to engine test bench characteristic curve, power unit power points is demarcated, determination is started The optimum working zone of machine discretization；
Determine that the calibration of power unit predominantly determines the optimum working zone of discretization in the present invention.Main contents are, Under gamut rotating speed, with reference to engine test bench characteristic curve, different generator torques is loaded, observation power unit is at each turn Load capacity under speed, i.e. torque loading range；And acquire fuel consumption rate when engine is operated in each operating point work Etc. parameters, obtain engine behavior information.Thus to obtain the working condition of all the points in rotary speed-torque coordinate diagram, according to Rotary speed-torque coordinate diagram is divided into 4 different operation areas by the state parameters such as the fuel consumption rate each put, as shown in Figure 1, point It Wei not optimum working zone c, unusable area a, unstable region b and remaining area d；Wherein, unusable area is discontented The region of sufficient engine condition, unstable region are in the case where determining speed conditions, to engine impact or anticlimax torque, hair There is flame-out region in motivation.
The optimum working zone of engine discretization is determined by following manner：
According to power unit external characteristics calibration experiment, engine speed-torque coordinate figure is determined；The rotary speed-torque Coordinate diagram abscissa is rotating speed, ordinate is torque, and each rotating speed, torque correspond to an operating point；
Region where meeting all working point of following two constraints is the optimum working zone of engine discretization c：
1), in the case where determining speed conditions, do not stop working to engine impact or anticlimax torque, engine；
2), fuel consumption rate≤215g/ (kWh) of the engine when operating point works.
As shown in Fig. 2, after the instruction of power unit real-time reception target output, " entering idling " instruction is determined whether Or output demand power is too small, accordingly enters idling mode or generating state；If into generating state, according to engine coolant The parameters such as temperature judge that engine is capable of the threshold limit value of output power at this time.If demand generated output, which does not surpass this, crosses limit value, Realistic objective power PaimAs demand power at this time, otherwise PaimIt is provided with generated output limit value at this time；Finally, APU according to PaimCarry out power closed-loop control, including target operation points selection and carry out output power switching control.
The selection of target operation points and operating point switching route schematic diagram as shown in figure 3, in order to which power tracking is rapidly completed, The selection of target power point should follow the principle of rotational speed regulation minimum, i.e., in power unit optimum working zone, target In all working point on output power constant power curve, finds out the point for differing minimum with the engine speed of present operating point and make For target operation points.
If locked-in torque, then it is optimal in optimum working zone, to be switched over along upward straight path or Upward convex right angle folding track switches over；Such as it needs to load power to 50kw from present operating point A, then optimal track Directly to be switched up from A points to B points；If desired load power to 60kw from present operating point B, then optimal switching route be by D is switched to by B according to S1 routes, S2 routes also can, it is contemplated that part of the engine constant power curve in optimum working zone, For derivative (- 1,0) range inverse proportion function, on the one hand, by mathematical characteristic it is found that when carrying out power switching, rotating speed is not When modified tone turn over square, the pace of change of power is than very fast；And when torque invariable tone turn over speed, the pace of change of power is slow. When such as loading switching to D points from B, 55kW constant power curves are reached more quickly along S2 routes along S1 routes ratio；Another party Face, since generator torque response speed is originally much larger than engine speed response speed, the preferential mode of direct torque The tracking velocity of power first quick and back slow, from the point of view of power tracking, can make power in a relatively short period of time quickly into line trace Output is adjusted to the value being closer to target power point rapidly, then carries out power fine tuning.In view of quick in actual use The mode of the purpose of responding power demand, torque preferential answering is undoubtedly more particularly suitable.Therefore the preferential control of selection direct torque Mode.
Power unit is according to engine present output power and realistic objective power, it then follows the original that rotational speed regulation minimizes Then, target operation points are determined in optimum working zone and are switched over, and engine power switching control is completed.
Specific closed-loop control is as shown in figure 4, be as follows：
(1) judge whether to need power adjustment；Such as | realistic objective power-current power output | when ＜ 2kw, then it is not required to Power adjustment is carried out, otherwise according to current rotating speed n0The all of realistic objective power are traversed in engine optimum working zone Operating point { pi, selection target operating point paim, make：
|naim-n0|=min | ni-n0|
Determine target torque Taim：
(2) judge whether current power output less than realistic objective power turns (3) if being less than, otherwise, turn (5)；
(3) in optimum working zone, the peak torque T under engine current rotating speed is inquired0MaxIf T0MaxLess than target Torque Taim, then motor torque is adjusted to and determines torque Tc=T0Max, turn (4) after the completion of adjusting；Otherwise, by motor torque tune Section is to determining torque Tc=Taim, turn (4) after the completion of adjusting；
(4) rotating speed of adjustment engine is until reach given rotating speed nc=naim, complete switching；Wherein naimFor target operation The corresponding rotating speed of target of point；
(5) in optimum working zone, the minimal torque T under engine current rotating speed is inquired0MinIf T0MinMore than target Torque Taim, then motor torque is adjusted to and determines torque Tc=T0Min, turn (6) after the completion of adjusting；Otherwise, by motor torque tune Section is to determining torque Tc=Taim, turn (6) after the completion of adjusting；
(6) rotating speed of adjustment engine is until reach given rotating speed nc=naim, complete switching.
This method carries out hardware realization using APU, by the embedded programming of controller, realizes power unit power tracking Control.The hardware carrier that APU is realized as this power optimization control algolithm plays an important role to the realization of control algolithm.By More complicated in APU control system communication network, APU controllers must be with the ability of a plurality of CAN bus communication coordinated work And have the characteristics that be swift in response.This method use the APU that gives select rich interface, arithmetic speed faster, stability it is better Main control chip.
Unspecified part of the present invention belongs to common sense well known to those skilled in the art.

Claims (8)

1. a kind of multi-axle heavy type hybrid vehicle power unit power optimization control method, it is characterised in that pass through following manner It realizes：
Under gamut rotating speed, with reference to engine test bench characteristic curve, power unit power points is demarcated, determine engine from The optimum working zone of dispersion；
Power unit real-time reception target output instructs, and when engine enters generating state, determines realistic objective power；
Power unit is according to engine present output power and realistic objective power, it then follows the principle that rotational speed regulation minimizes, Target operation points are determined in optimum working zone and are switched over, and engine power switching control is completed.
2. according to the method described in claim 1, it is characterized in that：Under the optimum working zone of the engine discretization passes through The mode of stating is determined：
According to power unit external characteristics calibration experiment, engine speed-torque coordinate figure is determined；The rotary speed-torque coordinate Figure abscissa is rotating speed, ordinate is torque, and each rotating speed, torque correspond to an operating point；
Region where meeting all working point of following two constraints is the optimum working zone of engine discretization：
A, in the case where determining speed conditions, do not stop working to engine impact or anticlimax torque, engine；
B, fuel consumption rate≤215g/ (kWh) of the engine when operating point works.
3. according to the method described in claim 2, it is characterized in that：It, can be by engine speed-torque according to real work needs Coordinate diagram is divided into four operation areas, respectively optimum working zone, unusable area, unstable region and remaining area Domain；Wherein, unusable area is the region for being unsatisfactory for engine condition, unstable region be in the case where determining speed conditions, it is right There is flame-out region in engine impact or anticlimax torque, engine.
4. according to the method described in claim 1, it is characterized in that：Realistic objective power PaimDetermine that steps are as follows：
Judge that engine is capable of the threshold limit value of output power at this time according to engine coolant temperature；If demand generated output is not More than this threshold limit value, then realistic objective power PaimAs demand power at this time, otherwise realistic objective power PaimFor it is above-mentioned most Big limit value.
5. according to the method described in claim 1, it is characterized in that：The principle for following rotational speed regulation minimum is most In good working region, in all working point on target output constant power curve, the engine with present operating point is found out The minimum point of rotating speed difference is as target operation points.
6. method according to claim 1 or 5, it is characterised in that：Switching from present operating point to target operation points, if It is for locked-in torque, then optimal in optimum working zone, to be switched over along upward straight path or upward convex straight Angle dog-leg path switches over；It is if reducing torque, then optimal in optimum working zone, along downward straight path into Row switching or downwardly convex right angle folding track switch over.
7. according to the method described in claim 6, it is characterized in that：Switching from present operating point to target operation points is specifically led to Cross following step realization：
The first step, judges whether current power output less than realistic objective power turns second step if being less than, and otherwise, turns the 4th Step；
Second step inquires the peak torque T under engine current rotating speed in optimum working zone0MaxIf T0MaxLess than target Torque Taim, then motor torque is adjusted to and determines torque Tc=T0Max, turn third step after the completion of adjusting；Otherwise, engine is turned Square, which is adjusted to, determines torque Tc=Taim, turn third step after the completion of adjusting；
Third walks, and adjusts the rotating speed of engine until reaching given rotating speed nc=naim, complete switching；Wherein naimFor target operation The corresponding rotating speed of target of point；
4th step inquires the minimal torque T under engine current rotating speed in optimum working zone0MinIf T0MinMore than target Torque Taim, then motor torque is adjusted to and determines torque Tc=T0Min, turn the 5th step after the completion of adjusting；Otherwise, engine is turned Square, which is adjusted to, determines torque Tc=Taim, turn the 5th step after the completion of adjusting；
5th step adjusts the rotating speed of engine until reaching given rotating speed nc=naim, complete switching.
8. according to the method described in claim 1, it is characterized in that：This method carries out hardware realization using APU, passes through engine The embedded programming of controller realizes the control of power unit power tracking.
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Cited By (7)

* Cited by examiner, † Cited by third party
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CN111216705A (en) * 2020-01-13 2020-06-02 清华大学 Energy management method of series hybrid power system
CN112498333A (en) * 2020-08-12 2021-03-16 中国汽车技术研究中心有限公司 Power split type new energy vehicle fuzzy control method and device and new energy vehicle
CN113281045A (en) * 2021-05-18 2021-08-20 广州大学 Calculation method and control method for friction torque of bearing ring
CN113314741A (en) * 2021-04-30 2021-08-27 金龙联合汽车工业（苏州）有限公司 Method for measuring and calculating instantaneous hydrogen consumption of hydrogen fuel cell vehicle
CN114056321A (en) * 2020-07-29 2022-02-18 比亚迪股份有限公司 Vehicle power generation control method and device and vehicle
CN114258458A (en) * 2019-08-07 2022-03-29 卡特彼勒公司 Controlling an engine of a machine based on a sensed mechanical load demand
CN114888846A (en) * 2022-04-21 2022-08-12 北京工业大学 Method for testing optimal working area of small joint complete machine of service robot

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