CN109017448A - The QUADRATIC PROGRAMMING METHOD FOR of four motorized wheels electric car Torque distribution, the method for formulating constraint condition and objective function - Google Patents

The QUADRATIC PROGRAMMING METHOD FOR of four motorized wheels electric car Torque distribution, the method for formulating constraint condition and objective function Download PDF

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Publication number
CN109017448A
CN109017448A CN201810914726.4A CN201810914726A CN109017448A CN 109017448 A CN109017448 A CN 109017448A CN 201810914726 A CN201810914726 A CN 201810914726A CN 109017448 A CN109017448 A CN 109017448A
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China
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wheel
torque
front wheel
electric car
motorized wheels
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CN201810914726.4A
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CN109017448B (en
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葛平淑
赵秀春
薄纯娟
宋鹏
张涛
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Dalian Minzu University
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Dalian Nationalities 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
    • B60L15/20—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
    • B60L15/32—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
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • 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
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0037—Mathematical models of vehicle sub-units
    • 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
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

This divisional application discloses a kind of QUADRATIC PROGRAMMING METHOD FOR of four motorized wheels electric car Torque distribution, the method for formulating constraint condition and objective function, belong to electric automobile chassis control field, Torque distribution for solving the problems, such as effectively to take into account four motorized wheels electric powered motor and fuel economy, have technical point that quadratic programming problem obtains the torque that four motors of four motorized wheels electric car are distributed, effect is so that converting quadratic programming problem for Torque distribution.

Description

The QUADRATIC PROGRAMMING METHOD FOR of four motorized wheels electric car Torque distribution formulates constraint The method of condition and objective function
The application is application number 201611150608.8, applying date 2016-12-14, and denomination of invention " takes into account power and efficiency Four motorized wheels electric car Torque distribution method " divisional application.
Technical field
The invention belongs to electric automobile chassis control fields, are related to four motorized wheels power system of electric automobile and set Meter, is related specifically to a kind of four motorized wheels electric car Torque distribution method for taking into account power and efficiency.
Background technique
With the increase of car ownership, environmental problem caused by automobile is on the rise, and the development of electric car is increasingly It is valued by people.Four motorized wheels electric car is a kind of important form of electric car, the torque of four wheels It can individually control, therefore opposite orthodox car has bigger control advantage.
The power performance and the economy performance of automobile is two big performance indicators of automobile.On orthodox car, people are according to hair Motivation efficiency MAP chart (revolving speed-torque-efficiency chart) makes engine operation in the higher speed of efficiency by optimizing transmission system Degree-torque section improves the fuel-economy type of automobile while so that automobile is kept dynamic property.But it is directed to four motorized wheels The characteristics of electric car, effectively takes into account four motorized wheels electric powered motor and fuel economy there has been no a set of at present Torque distribution method.
Summary of the invention
In order to solve the above problems existing in the present technology, the present embodiment will design a kind of four-wheel for taking into account power and efficiency Independent driving electric car Torque distribution method, this method not only can guarantee the dynamic property of four motorized wheels electric car, but also energy Guarantee the fuel economy of four motorized wheels electric car.
In order to achieve the above object, the technical solution of the present embodiment is as follows: a kind of four-wheel independence for taking into account power and efficiency Electric car Torque distribution method is driven, four motorized wheels electric car torque is divided using the method for quadratic programming Match.
Further, the method for the quadratic programming includes:
S1. objective function is obtained；
S2. the constraint condition of quadratic programming problem is formulated.
Further, the objective function are as follows:
Wherein:
First item scalar functions:
Second item scalar functions:
J2=(T1+T2+T3+T4-Td)2；
Third objective function are as follows:
Wherein: η1, η2, η3, η4The respectively corresponding driving motor efficiency of the near front wheel, off-front wheel, left rear wheel, off hind wheel；
P1, P2, P3, P4The respectively corresponding driving motor output power of the near front wheel, off-front wheel, left rear wheel, off hind wheel；
T1, T2, T3, T4The respectively torque distributed of the corresponding driving motor of the near front wheel, off-front wheel, left rear wheel, off hind wheel
ω1, ω2, ω3, ω4The respectively corresponding driving motor angular speed of the near front wheel, off-front wheel, left rear wheel, off hind wheel；
R is the effective rolling radius of tire, and μ is ground friction coefficient, Fz1、Fz2、Fz3、Fz4Respectively before the near front wheel, the right side Wheel, left rear wheel, vertical load suffered by off hind wheel；
The first item scalar functions be the loss power calculation formula total to four driving motors carry out deformation be rewritten into What the form of quadratic sum obtained, the total loss power calculation formula of four driving motors are as follows:
Further, the constraint condition includes two: the constraint of motor maximum output torque and cell output Constraint；
The motor maximum output torque constraint: the torque of two vehicle wheels of left and right is equal, describes above-mentioned constraint with formula Are as follows:
Wherein TmaxFor the available maximum moment of driving motor；
The cell output constraint: the sum of power consumed by four driving motors is provided no more than efficient cell The 90% of maximum power describes above-mentioned constraint with formula are as follows:
Wherein PbFor the available maximum power of battery.
Further, quadratic programming problem is indicated with following formula:
It solves this quadratic programming problem and obtains the torque that four motors of four motorized wheels electric car are distributed.
The utility model has the advantages that technical solution of the present invention considers the loss situation of driving motor energy, four driving motors point The sum of torque matched should be equal to torque T required for driverd, driving force and the available maximum in ground suffered by tire The ratio of frictional force, and objective function has been formulated based on above-mentioned parameter, i.e. objective function makes dynamic property and economy Comprehensive balance is considered, and it is creative convert quadratic programming problem for Torque distribution, propose Torque distribution method A kind of new trend, so that the mutual containing problem of dynamic property and economy is resolved for a long time.
Specific embodiment
A kind of four motorized wheels electric car Torque distribution method based on energy management: four motorized wheels are electronic Automobile Torque distribution problem is converted into quadratic programming problem, so as to calculate each motor of four motorized wheels electric car The torque size of distribution.Specific implementation step is as follows:
1, the driving motor data of four motorized wheels electric car are acquired, motor MAP chart is drawn
The present embodiment proposed take into account power and the four motorized wheels electric car Torque distribution method of efficiency is What the MAP chart based on driving motor carried out, therefore firstly the need of the MAP chart for drawing driving motor.Method for drafting is: surveying in motor The driving motor of four motorized wheels electric car is tested on examination platform, tests motor under different torques, different rotating speeds Efficiency and record, record it is as follows:
1 four motorized wheels motor in electric automobile MAP chart data record sheet of table
2, the objective function of quadratic programming problem is established
Quadratic programming problem is converted by four motorized wheels electric car Torque distribution problem to first have to find target letter Number.The objective function of the present embodiment design includes three:
2.1, objective function first item
What the present embodiment proposed is a kind of four motorized wheels electric car Torque distribution method for taking into account power and efficiency, Therefore design object function primary goal in need of consideration be driving motor energy loss situation, it is assumed that the near front wheel, off-front wheel, The corresponding driving motor efficiency of left rear wheel, off hind wheel is respectively as follows: η1, η2, η3, η4, the near front wheel, off-front wheel, left rear wheel, off hind wheel Corresponding driving motor output power is respectively as follows: P1, P2, P3, P4, the corresponding driving of the near front wheel, off-front wheel, left rear wheel, off hind wheel The torque that motor is distributed is respectively as follows: T1, T2, T3, T4, the corresponding driving motor angle of the near front wheel, off-front wheel, left rear wheel, off hind wheel Speed is respectively as follows: ω1, ω2, ω3, ω4, then four total loss powers of driving motor may be expressed as:
For convenience of quadratic programming problem is formed, the form that deformation is rewritten into quadratic sum is carried out to above formula, obtains objective function First item:
2.2, objective function Section 2
The sum of the torque of four driving motors distribution should be equal to torque T required for driverd, as target letter Number is writeable are as follows:
J2=(T1+T2+T3+T4-Td)2。
2.3, objective function Section 3
The ratio of driving force suffered by tire and the available maximal friction in ground should be the smaller the better as far as possible, this is advantageous In improve automobile control stability, therefore the present embodiment design third objective function are as follows:
The objective function of the present embodiment final design is the sum of above-mentioned three:
Wherein: r is the effective rolling radius of tire, and μ is ground friction coefficient, Fz1、Fz2、Fz3、Fz4Respectively the near front wheel, Off-front wheel, left rear wheel, vertical load suffered by off hind wheel；
3, the constraint condition of quadratic programming problem is found
After converting four motorized wheels electric car Torque distribution problem to quadratic programming problem and establishing objective function, Find the constraint condition of quadratic programming problem.The constraint condition of the present embodiment design includes two:
3.1, motor maximum output torque constrains
Each exportable torque of driving motor is certainly less than the available maximum moment of driving motor itself.In addition, being Guarantee the vehicle body stability of electric car in the process of moving, reduces tire wear, two vehicle wheels of the present embodiment regulation left and right Torque must be equal.It is writeable that above-mentioned constraint is described with formula are as follows:
Wherein TmaxFor the available maximum moment of driving motor.
3.2, cell output constrains
The sum of power consumed by four driving motors has to be less than the available maximum power of battery, in order to better Protect battery, prevent battery from overheating, the constraint condition that the present embodiment designs herein are as follows: power consumed by four driving motors it And have to the 90% of the available maximum power of efficient cell.It is formulated are as follows:
Wherein PbFor the available maximum power of battery.
Finally formed quadratic programming problem is formulated are as follows:
Solving this quadratic programming problem can be obtained the torque that four motors of four motorized wheels electric car are distributed.
The preferable specific embodiment of the above, only the invention, but the protection scope of the invention is not It is confined to this, anyone skilled in the art is in the technical scope that the invention discloses, according to the present invention The technical solution of creation and its inventive concept are subject to equivalent substitution or change, should all cover the invention protection scope it It is interior.

Claims (3)

1. a kind of QUADRATIC PROGRAMMING METHOD FOR of four motorized wheels electric car Torque distribution, it is characterised in that: quadratic programming problem It is indicated with following formula:
It solves this quadratic programming problem and obtains the torque that four motors of four motorized wheels electric car are distributed.
2. a kind of method that four motorized wheels electric car Torque distribution formulates constraint condition, it is characterised in that:
Constraint condition includes two: the constraint of motor maximum output torque and cell output constraint；
The constraint of motor maximum output torque: the torque of two vehicle wheels of left and right is equal, describes motor maximum output power with formula Square constraint are as follows:
Wherein TmaxFor the available maximum moment of driving motor；
Cell output constraint: the sum of power consumed by four driving motors is not more than the maximum power that efficient cell provides 90%, with formula describe cell output constraint are as follows:
Wherein PbFor the available maximum power of battery.
A kind of method of function 3. four motorized wheels electric car Torque distribution sets objectives, which is characterized in that objective function Are as follows:
Wherein:
First item scalar functions:
Second item scalar functions:
J2=(T1+T2+T3+T4-Td)2；
Third objective function are as follows:
Wherein: η1, η2, η3, η4The respectively corresponding driving motor efficiency of the near front wheel, off-front wheel, left rear wheel, off hind wheel；
P1, P2, P3, P4The respectively corresponding driving motor output power of the near front wheel, off-front wheel, left rear wheel, off hind wheel；
T1, T2, T3, T4The respectively torque distributed of the corresponding driving motor of the near front wheel, off-front wheel, left rear wheel, off hind wheel, TdIt drives Torque required for the person of sailing；
ω1, ω2, ω3, ω4The respectively corresponding driving motor angular speed of the near front wheel, off-front wheel, left rear wheel, off hind wheel；
R is the effective rolling radius of tire, and μ is ground friction coefficient, Fz1、Fz2、Fz3、Fz4Respectively the near front wheel, off-front wheel, a left side Vertical load suffered by rear-wheel, off hind wheel；
The first item scalar functions are that the loss power calculation formula total to four driving motors carries out deformation and be rewritten into square What the form of sum obtained, the total loss power calculation formula of four driving motors are as follows:
CN201810914726.4A 2016-12-14 2016-12-14 Quadratic programming method for torque distribution of four-wheel independent drive electric vehicle and method for formulating constraint conditions and objective function Active CN109017448B (en)

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CN109017450A (en) 2018-12-18

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