CN109624965A - A kind of plug-in hybrid-power automobile CAN network control system and its method - Google Patents
A kind of plug-in hybrid-power automobile CAN network control system and its method Download PDFInfo
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- 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
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- 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
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
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- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0644—Engine speed
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- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/081—Speed
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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
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- 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
- B60W2710/24—Energy storage means
- B60W2710/242—Energy storage means for electrical energy
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses a kind of plug-in hybrid-power automobile CAN network control system and its method, system includes power Network Management System node, electromechanical transducer node, electric motor actuator node, engine sensor node, engine actuators node, power battery management system node and the CAN bus for realizing each node communication；The engine sensor node, electromechanical transducer node, power battery management system node acquire engine, motor, the output signal of power battery in real time and are sent to power Network Management System node by CAN bus, the power Network Management System node utilizes the output signal process of the engine received, motor, power battery pack that control signal is calculated, and is sent to engine actuators node and electric motor actuator node by CAN bus.The present invention improves plug-in hybrid-power automobile power-driven system control effect, so that control system real-time, stability are more preferable.
Description
Technical field
The present invention relates to a kind of plug-in hybrid-power automobile CAN network control system and its methods, belong to hybrid power
Automobile technical field.
Background technique
Orthodox car industry is faced with various challenges such as environmental protection, energy resources shortage, traffic safety.
It copes with challenges, sight is focused on new-energy automobile by countries in the world government and automobile factory commercial city.It is plug-in mixed in new-energy automobile
Closing power vehicle not only has the advantages that the low oil consumption of conventional hybrid automobile, low emission, but also has longer pure electric vehicle continuous
Mileage is sailed, can also be charged using external electrical network to battery pack, therefore becomes the emphasis of current development.Plug-in mixing is dynamic
Power automobile tool using CAN bus based power drive network control system can not only reduce harness there are two power source
Quantity reduces the quality and cost of vehicle, moreover it is possible to realize data sharing.However, existing in power drive CAN network control system
Networked-induced delay so that the control effect of plug-in hybrid-power automobile power-driven system is deteriorated, or even cause to control
System is unstable, is not able to satisfy the real-time and system stability of each controller of plug-in hybrid-power automobile power-driven system
It is required that and then also can dynamic property, economy and emission performance to plug-in hybrid-power automobile adversely affect.
Summary of the invention
In view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of plug-in hybrid-power automobile CAN networks
Control system and its method improve plug-in hybrid-power automobile power-driven system control effect, so that control system is real
Shi Xing, stability are more preferable, are conducive to improve plug-in hybrid-power automobile dynamic property, economy and emission performance.
To achieve the goals above, the present invention is to realize by the following technical solutions:
A kind of plug-in hybrid-power automobile CAN network control system of the invention, including power Network Management System section
Point, electromechanical transducer node, electric motor actuator node, engine sensor node, engine actuators node, power battery pipe
It manages system node and realizes the CAN bus of each node communication；The engine sensor node, electromechanical transducer node, power
Battery management system node acquires engine, motor, the output signal of power battery in real time and is sent to power by CAN bus
Network Management System node, the power Network Management System node utilize the engine, motor, power battery pack received
Output signal by rule-based plug-in hybrid electric vehicle power system two-mode field strategy (comparative maturity based on
The plug-in hybrid electric vehicle power system two-mode field strategy of rule, what full text was said is all this control strategy) it calculates
Control signal is obtained, and engine actuators node and electric motor actuator node are sent to by CAN bus, is started to realize
The closed-loop control of machine and motor.
Above-mentioned power Network Management System node acquires plug-in hybrid-power automobile start stop signal, accelerator pedal in real time
Signal, and motor speed, the dtc signal that electromechanical transducer node is sent, the engine sensor section are received from CAN bus
The engine speed of point transmission, dtc signal, the battery SOC value that power battery management system node is sent；Whenever the power
Network Management System node receives signal from CAN bus, will call internal rule-based plug-in hybrid vapour
Vehicle dynamical system two-mode field strategy, load signal needed for calculating motor start stop signal, motor are simultaneously sent by CAN bus
To the electric motor actuator node, while load signal needed for calculating engine start stop signal, engine and passing through CAN bus
It is sent to the engine actuators node, so that it is normal to coordinate plug-in hybrid-power automobile power-driven system all parts
Work.
Above-mentioned electromechanical transducer node periodically acquires motor speed, dtc signal, and is transmitted to institute by CAN bus
State power Network Management System node.
Above-mentioned electric motor actuator node receives the motor start and stop letter that power Network Management System node is sent from CAN bus
Number, load signal needed for motor；Whenever the electric motor actuator node receives the letter of power Network Management System node transmission
Number, motor will be controlled and worked according to required load condition.
Above-mentioned engine sensor node periodically acquires engine speed, dtc signal, and is transmitted by CAN bus
To the power Network Management System node.
Above-mentioned engine actuators node receives the engine start and stop that power Network Management System node is sent from CAN bus
Load signal needed for signal, engine, whenever the engine actuators node receives power Network Management System node hair
The signal sent will control engine and work according to required load condition.
Above-mentioned power battery management system node periodically acquires battery charge state SOC value, and is passed by CAN bus
It is sent to power Network Management System node.
The control method of control system of the invention, comprising the following steps:
(1) plug-in hybrid-power automobile vehicle simulation model is established based on building whole vehicle model Cruise software；
(2) plug-in hybrid-power automobile CAN network control system is constructed in the form of structure straight, and determination is based on
The predictive compensation algorithm of least square recurrence method；
(3) control strategy of plug-in hybrid-power automobile uses rule-based plug-in hybrid-power automobile dynamical system
It unites two-mode field strategy, control strategy is divided under charge-depleting mode control strategy under control strategy and charge-sustaining mode；
(4) simulation model of plug-in hybrid-power automobile CAN network control system is built, and combines Cruise software
In vehicle simulation model, based on Typical Cities in China public transport state of cyclic operation carry out associative simulation.
In step (1), plug-in hybrid-power automobile vehicle simulation model is established based on Cruise software, specific method is such as
Under:
1-1) using the power-driven system structure and whole-car parameters of uniaxial parallel connection type plug-in hybrid-power automobile；
1-2) choose four strokes, 6 cylinder direct injection formula diesel engine and parameter；
The mainstream motor for 1-3) selecting domestic new-energy automobile to use is AC asynchronous motor and parameter；
1-4) select lithium-ion-power cell and parameter；
1-5) determine legacy system type selecting and parameter；
It is dynamic to establish plug-in mixing using Cruise software for 1-6) each parameters of operating part of the vehicle based on determined by above step
Power vehicle complete vehicle simulation model.
In step (2), the predictive compensation method based on least square recurrence method is determined, the specific method is as follows:
According to the priori knowledge of controlled device, the difference equation mathematical modulo of controlled device in CAN network control system is obtained
Type:
Wherein, u (k) is controlled device list entries, and z (k) is controlled device output sequence；aiAnd bjFor constant coefficient, i=
1,2,...,na, j=1,2 ..., nb, naFor the order of control object output sequence, nbFor the order for controlling list entries, e
It (k) is correction term；
Further, above formula is written as:
Z (k)=hT(k)θ+e(k)
Wherein:
H (k)=[- z (k-1) ... ,-z (k-na),u(k-1),...,u(k-nb)]
For L observation data, above formula constitutes a system of linear equations:
ZL=HLθ+NL
Wherein:
ZL=[z (1), z (2) ..., z (L)]T
NL=[e (1), e (2) ..., e (L)]T
As L > na+nbWhen, the parameter value of model is estimated according to least-squares algorithm:
In system operation, controller often receives new sensor signal, just on the basis of upper primary estimated value
On, using new prediction data, last estimated value is modified according to recursive algorithm, to obtain new estimated value, directly
Until the precision for reaching definition, least square recurrence method is as follows:
P (k)=P (k-1)-K (k) hT(k)P(k-1)
Utilize the estimated value of model parameter, list entries u (k), output sequence z (k), so that it may predict next sampling instant
The output valve z (k+1) of control target；Then make the increment of controlled device output valve due to Networked-induced delay are as follows:
The increment calculates control amount for control algolithm feedback plus the sensor signal that controller is currently received, and executes
The control amount that device obtains eliminates the need for the influence of Networked-induced delay, wherein τsc(k)、τcaIt (k) is respectively sensor to controller
Time delay and controller are to actuator time delay.
Advantageous effects of the invention:
Of the invention is used for plug-in hybrid-power automobile power drive CAN network control system, solves its CAN net
Networked-induced delay problem in network control system improves plug-in hybrid-power automobile power-driven system control effect, makes
It is more preferable to obtain control system real-time, stability, is conducive to improve plug-in hybrid-power automobile dynamic property, economy and discharge
Property.
Detailed description of the invention
Fig. 1 is plug-in hybrid-power automobile CAN network control system architecture schematic diagram of the invention；
Fig. 2 is plug-in hybrid-power automobile CAN network control method flow diagram of the invention；
Fig. 3 is uniaxial parallel connection type plug-in hybrid-power automobile power-driven system structural schematic diagram of the invention；
Fig. 4 is structural control system structural schematic diagram straight of the invention；
Fig. 5 is CAN network Control System NetWork induction time-delay structure schematic diagram of the invention.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Present embodiment discloses a kind of plug-in hybrid-power automobile CAN network control systems as shown in Figure 1:, including dynamic
Power Network Management System node, electromechanical transducer node, electric motor actuator node, engine sensor node, engine execute
Device node, power battery management system node and the CAN bus for realizing the communication of these nodes.Engine sensor node, motor
Sensor node, power battery management system node acquire in real time engine, motor, power battery output signal and pass through
CAN network is sent to power Network Management System node, and what the utilization of power Network Management System node received starts mechanical, electrical
Machine, power battery pack output signal signal and engine actuators section is sent to by CAN network by control is calculated
Point and electric motor actuator node, to realize the closed-loop control of engine and motor.
Power Network Management System node acquires plug-in hybrid-power automobile start stop signal, accelerator pedal letter in real time
Number, and motor speed, the dtc signal that electromechanical transducer node is sent are received from CAN network, engine sensor node is sent
Engine speed, dtc signal, power battery management system node send SOC value of battery.Whenever power Network Management Department
System node receives signal from CAN network, will call internal rule-based plug-in hybrid electric vehicle power system
Two-mode field strategy, load signal needed for calculating motor start stop signal, motor are simultaneously sent to motor execution by CAN network
Device node, while load signal needed for calculating engine start stop signal, engine and engine is sent to by CAN network holds
Row device node, to coordinate plug-in hybrid-power automobile power-driven system all parts normal work.
Electromechanical transducer node periodically acquires motor speed, dtc signal, and is transmitted to Power Environment Monitoring Network by CAN network
Network management system node.
Electric motor actuator node receives motor start stop signal, the electricity that power Network Management System node is sent from CAN network
Load signal needed for machine.Whenever electric motor actuator node receive power Network Management System node transmission signal, will control
Motor processed works according to required load condition.
Engine sensor node periodically acquires engine speed, dtc signal, and is transmitted to by CAN network dynamic
Power Network Management System node.
Engine actuators node receives the engine start and stop letter that power Network Management System node is sent from CAN network
Number, load signal needed for engine.Whenever engine actuators node receives the letter of power Network Management System node transmission
Number, engine will be controlled and worked according to required load condition.
Power battery management system node periodically acquires battery charge state SOC value, and is transmitted to by CAN network
Power Network Management System node.
The present embodiment also discloses above-mentioned plug-in hybrid-power automobile CAN network control method implementation process schematic diagram,
It is as shown in Figure 2:
1, plug-in hybrid-power automobile vehicle simulation model is established based on Cruise.Specific steps are as follows:
1) plug-in hybrid-power automobile driving system structure and whole-car parameters are determined.
Also there are three types of patterns for the power-driven system structure of plug-in hybrid-power automobile: tandem type, parallel connection type, mixed connection
Type.Although the power-driven system structure of tandem type is simple, capacity usage ratio is not high, without parallel connection in terms of fuel economy
The height of type；And although hybrid type driving system structure combines the advantages of Series FPB and parallel FPB, but structure is excessively complicated, and
Control strategy and full-vehicle control are difficult to realize.Therefore herein using the power drive of uniaxial parallel connection type plug-in hybrid-power automobile
System structure, as shown in Figure 3.Whole-car parameters of the invention are based on a specific plug-in hybrid bus, specifically
Parameter is as follows:
Kerb weight m (kg): 10755, Maximum total mass m (kg): 18000, maximum passenger capacity (people): 103, front face area
A/m2:8.28, coefficient of air resistance CD:0.65, wheelbase L/m:6.1, coefficient of rolling resistance f:0.0137, radius of wheel r/m:
0.515, transmission efficiency η: 0.85.
2) engine type selecting and parameter are determined.
The selection of engine power should meet max. speed in plug-in hybrid electric motor coach power index
It is required that.According to the relevant knowledge of automobile theory, the power of engine should meet following equation.
In formula, PemaxFor maximum power, ηTFor drive line efficiency, G is complete vehicle weight, and f is coefficient of rolling resistance,
CDFor coefficient of air resistance, A is front face area, uamaxFor max. speed.
It is 118.2kW by the demand power that engine is calculated in above formula, it is contemplated that car will also drive in the process of moving
It moves attachment and charges to power battery pack, increase the additional demand power of 25kW.And consider to retain certain margin of power, this
Selected works take four strokes, 6 cylinder direct injection formula diesel engine, parameter specifically: maximum power (kW): 172, peak torque (N.m):
673, speed at maximum torque (r/min): 1700, idling (r/min): 700, maximum speed (r/min): 2700.
3) type selecting and parameter of motor are determined.
Plug-in hybrid bus in city operating condition often under electric quantity consumption-pure electric mode, because
It is 60km/h that this, which takes the max. speed of its pure electric vehicle,.
The selection of motor peak power should meet the max. speed under its pure electric mode.Similar to engine function
The peak power of the selection of rate, motor should meet following equation.
In formula, PmmaxFor motor peak power, ηTFor drive line efficiency, G is complete vehicle weight, and f is coefficient of rolling resistance, CD
For coefficient of air resistance, A is front face area, ummaxFor pure electric vehicle max. speed.
It is 66kW by the demand peaks power that motor is calculated in above formula, considers to retain certain margin of power, choose electricity
The peak power of machine is 75kW.
There is empirical equations below between the peak power and rated power of motor.
In formula, PmmaxFor motor peak power, P is motor rated power, and λ is motor overload coefficient, generally take 1.5~
2.It can thus be concluded that motor rated power value range is 33~44kW, selection motor rated power is 42kW.
Motor can be divided into ordinary motor and high-speed motor according to revolving speed, and the revolving speed of high-speed motor is generally in 6000r/min
More than, and since high-speed motor manufacturing process is complicated, it is at high cost, it is general only to be used on car, seldom in bus
It uses, therefore the motor that the present invention selects is ordinary motor.
There are following relationships with rated speed for the maximum speed of motor.
In formula, nmaxFor motor maximum speed, n is Rated motor revolving speed, and β is that motor expands invariable power fauna number.
In view of in the city integrated operating condition of China Coach, the demand revolving speed of motor is substantially in 2000r/min or less.And
And since motor is in nominal speed range work limitation rate highest, the rated speed for choosing motor is 2000r/min.Choosing
Taking motor to expand invariable power fauna number is 2, then the maximum speed of motor is 4000r/min.
What the final present invention selected is that the mainstream motor that domestic new-energy automobile uses is AC asynchronous motor, specific
Parameter are as follows:
Rated power (kW): 42, peak power (kW): 75, voltage rating (V): 320, torque capacity (N.m): 271, volume
Determine revolving speed (r/min): 2000, maximum (top) speed (r/min): 4000.
4) type selecting and parameter of power battery are determined.
Power battery selects lithium-ion-power cell, and because the voltage rating of motor is 320V, therefore power battery pack is specified
Voltage is set to 320V.
The average speed under plug-in hybrid electric motor coach electric-only mode is set as 20km/h, then the output of motor
Power is determined by following formula.
In formula, PMFor output power of motor, ηTFor drive line efficiency, G is complete vehicle weight, and f is coefficient of rolling resistance, CDFor
Coefficient of air resistance, A are front face area, ueFor pure electric vehicle average speed.Thus can calculate the output power of motor is
16.5kW。
Then the output power of battery can be determined by following formula.
In formula, PMFor output power of motor, PbFor cell output, ηMFor motor average efficiency, 0.81 is taken.Thus may be used
Calculate cell output be 20.3kW.
The specified gross energy of battery is determined by following formula.
In formula, W is battery gross energy, PbFor cell output, S is pure motor driving mileage, ueIt is averaged vehicle for pure electric vehicle
Speed.By Pb=20.3kW, S=50km, ue=20km/h substitute into above formula, can calculate battery specified gross energy be 50.8kWh.
The capacity of battery can be determined by following formula.
In formula, Q is battery capacity, and W is battery gross energy, and U is cell voltage.In order to extend the service life of battery, move
Power battery pack cannot 100% electric discharge, set power battery pack utilization rate be 50%, then can calculate battery capacity be 318Ah.
Consider the needs of driving attachment, increases 22Ah.Then finally determine that battery capacity is 340Ah.The design parameter of lithium ion battery are as follows:
Voltage rating (V): 320, capacity (Ah): 340.
5) legacy system type selecting and parameter are determined.
Power train is made of speed changer and main reducing gear.Speed changer uses five-gear manual transmission, and fastest ratio is
1.The selection of speed ratio of main reducer is equal to according to car max. speed or slightly less than corresponding to maximum power point
Speed determines.The selection of speed changer maximum transmission ratio will consider the max. climb slope of car, i.e.,
In formula, G is complete vehicle weight, and f is coefficient of rolling resistance, αmaxFor max. climb slope, r is rolling radius, TtqmaxFor hair
Motivation peak torque, i0For speed ratio of main reducer, ηTFor drive line efficiency.
The selection of remaining each gear transmission ratio is determined according to lower relation of plane.
It is computed, the speed ratio of base ratio is 4.1, the gear ratio of each shelves of five-gear manual transmission are as follows: 1 gear speed ratio 8.11,
2 gear speed ratios 4.18,3 keep off speed ratio 2.27,4 and keep off the gear of speed ratio 1.32,5 speed 1.
6) each parameters of operating part of the vehicle based on determined by above step establishes plug-in hybrid using Cruise software
Vehicle complete vehicle simulation model.
2, plug-in hybrid-power automobile CAN network control system is constructed in the form of structure straight, for its induction
Latency issue proposes the predictive compensation algorithm based on least square recurrence method.
1) plug-in hybrid-power automobile CAN network control system is constructed in the form of structure straight.
In general, there are two kinds of structures for network control system: structure and layered structure straight.The present invention is used and is tied straight
The power drive CAN network control system of the form building plug-in hybrid-power automobile of structure is as shown in Figure 1.Structure control straight
System structure diagram is as shown in Figure 4.Its principle for cycle sensor samples the output of controlled device, then will
Collected measuring signal encapsulation framing by network transmission to controller, controller according to the collected signal of sensor according to
Scheduled algorithm calculates control signal assemble framing by network transmission to actuator, and actuator controls quilt according to control signal
Control object operation.The typical case of structure includes: the speed control in distance learning laboratory, direct current generator straight.Practical application
In multiple controllers can be encapsulated in a master controller, realize the management in multiple network-control circuits.
2) it and for Networked-induced delay problem present in network control system, proposes and is calculated based on Least Square Recurrence
The predictive compensation method of method.
It is as shown in Figure 5 that CAN network control system communicates time-delay structure schematic diagram.The sensor feedback letter that controller receives
Number not instead of current output quantity of controlled device, by the output quantity after certain time-delay；The controller that actuator receives
The not current control amount of signal is controlled, by the control amount after certain time-delay, is made due to introducing CAN communication network
The transmission for obtaining signal generates delay, and this delay is known as Networked-induced delay.
The presence of Networked-induced delay, so that the control signal that actuator is currently received is delay τca+τscControl later
Signal processed so that the control effect of network control system is deteriorated, or even causes the unstable of system.
There is correlation between signal, the future value of prediction signal is capable of by the past value and current value of signal.One
The scheme that kind eliminates Networked-induced delay is the output signal following by the current output signal prediction of controlled device, to predict
Output signal increment in controlled device Networked-induced delay (the sum of delay of feedback and forward direction delay), the increment add controller
The sensor signal being currently received calculates control amount for control algolithm feedback, and the control amount that thus actuator obtains can recognize
For the influence for eliminating Networked-induced delay.
By above-mentioned thought, set forth herein the predictive compensation method based on least square recurrence method, this method is suitable for net
The case where network induction delay is less than a sampling period.This method principle is as follows:
According to the priori knowledge of controlled device, the difference equation number of controlled device in available CAN network control system
Learn model:
Wherein, u (k) is controlled device list entries, and z (k) is controlled device output sequence；aiAnd bjFor constant coefficient, i=
1,2,...,na, j=1,2 ..., nb, naFor the order of control object output sequence, nbFor the order for controlling list entries, e
It (k) is correction term；
Further, above formula can be written as:
Z (k)=hT(k)θ+e(k)
Wherein:
H (k)=[- z (k-1) ... ,-z (k-na),u(k-1),...,u(k-nb)]
For L observation data, above formula constitutes a system of linear equations:
ZL=HLθ+NL
Wherein:
ZL=[z (1), z (2) ..., z (L)]T
NL=[e (1), e (2) ..., e (L)]T
As L > na+nbWhen, the parameter value of model can be estimated according to least-squares algorithm:
In system operation, controller often receives new sensor signal, just on the basis of upper primary estimated value
On, using new prediction data, last estimated value is modified according to recursive algorithm, to obtain new estimated value, directly
Until the precision for reaching definition.Least square recurrence method is as follows:
P (k)=P (k-1)-K (k) hT(k)P(k-1)
Utilize the estimated value of model parameter, list entries u (k), output sequence z (k), so that it may predict next sampling instant
The output valve z (k+1) of control target.Then make the increment of controlled device output valve due to Networked-induced delay are as follows:
The increment calculates control amount for control algolithm feedback plus the sensor signal that controller is currently received, and executes
The control amount that device obtains eliminates the need for the influence of Networked-induced delay.Wherein τsc(k)、τcaIt (k) is respectively sensor to controller
Time delay and controller are to actuator time delay.
3, plug-in hybrid-power automobile CAN network control system and control strategy are designed.
According to step 2 plug-in hybrid-power automobile power-driven system CAN network control principle, plug-in mixing is designed
Power vehicle power drive CAN network Control system architecture schematic illustration is as shown in Figure 1.The control of plug-in hybrid-power automobile
System strategy uses rule-based plug-in hybrid electric vehicle power system two-mode field strategy, and control strategy is divided into electricity
Control strategy under control strategy and charge-sustaining mode under consumption patterns.
4, plug-in hybrid-power automobile CAN network control system is established simultaneously based on Matlab/Simulink-TrueTime
Associative simulation is carried out with the vehicle simulation model in Cruise, analyzes simulation result.
The control of plug-in hybrid-power automobile power drive CAN network is built based on Matlab/Simulink-TrueTime
The simulation model of system, and combine the vehicle simulation model in Cruise software, it is based on Typical Cities in China public transport state of cyclic operation
Carry out associative simulation.Simulation result shows: when control signal has Networked-induced delay, actual vehicle speed hysteresis requirements speed is at least
1.7s, motor actual load signal lag motor demand load signal at least 1.2s, actual engine load signal lag are started
Machine demand load signal about 2s；When control signal have Networked-induced delay after predictive compensation, actual vehicle speed can preferably with
With demand speed, motor actual load signal lag motor demand load signal time reduces maximum no more than 0.5s, engine
It is about 1.5s that the actual load signal lag engine demand load signal time, which is reduced,.It further illustrates and is based on Least Square Recurrence
The predictive compensation method of algorithm can improve the control effect of CAN network control system, improve plug-in hybrid-power automobile
The real-time and system stability of each controller of power-driven system.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (10)
1. a kind of plug-in hybrid-power automobile CAN network control system, which is characterized in that including power Network Management System section
Point, electromechanical transducer node, electric motor actuator node, engine sensor node, engine actuators node, power battery pipe
It manages system node and realizes the CAN bus of each node communication；
The engine sensor node, electromechanical transducer node, power battery management system node acquire in real time start it is mechanical, electrical
Machine, the output signal of power battery are simultaneously sent to power Network Management System node, the power network management by CAN bus
System node utilizes the output signal of the engine received, motor, power battery pack to pass through rule-based plug-in mixing
Power automobile power system two-mode field policy calculation obtains control signal, and is sent to engine by CAN bus and executes
Device node and electric motor actuator node, to realize the closed-loop control of engine and motor.
2. plug-in hybrid-power automobile CAN network control system according to claim 1, which is characterized in that described dynamic
Power Network Management System node acquires plug-in hybrid-power automobile start stop signal, accelerator pedal signal in real time, and total from CAN
Line receives motor speed, the dtc signal that electromechanical transducer node is sent, the engine that the engine sensor node is sent
Revolving speed, dtc signal, the SOC value of battery that power battery management system node is sent；Whenever the power Network Management System section
Point receives signal from CAN bus, will call internal rule-based plug-in hybrid electric vehicle power system bimodulus
Formula control strategy, load signal needed for calculating motor start stop signal, motor are simultaneously sent to the motor execution by CAN bus
Device node, while load signal needed for calculating engine start stop signal, engine and described start is sent to by CAN bus
Machine actuator node, to coordinate plug-in hybrid-power automobile power-driven system all parts normal work.
3. plug-in hybrid-power automobile CAN network control system according to claim 1, which is characterized in that the electricity
Machine sensor node periodically acquires motor speed signal, and is transmitted to the power Network Management System by CAN bus
Node.
4. plug-in hybrid-power automobile CAN network control system according to claim 1, which is characterized in that the electricity
Load needed for machine actuator node receives the motor start stop signal of power Network Management System node transmission, motor from CAN bus
Signal；Whenever the electric motor actuator node receive power Network Management System node transmission signal, motor will be controlled
It works according to required load condition.
5. plug-in hybrid-power automobile CAN network control system according to claim 1, which is characterized in that the hair
Motivation sensor node periodically acquires engine speed, dtc signal, and is transmitted to the power network by CAN bus
Management system node.
6. plug-in hybrid-power automobile CAN network control system according to claim 1, which is characterized in that the hair
Motivation actuator node receives engine start stop signal, the engine institute that power Network Management System node is sent from CAN bus
Need load signal, whenever the engine actuators node receive power Network Management System node transmission signal, will
Control engine works according to required load condition.
7. plug-in hybrid-power automobile CAN network control system according to claim 1, which is characterized in that described dynamic
Power battery management system node periodically acquires battery charge state SOC value, and is transmitted to power network pipe by CAN bus
Manage system node.
8. the control method of control system according to claim 1, which comprises the following steps:
(1) plug-in hybrid-power automobile vehicle simulation model is established based on building whole vehicle model Cruise software；
(2) plug-in hybrid-power automobile CAN network control system is constructed in the form of structure straight, and is determined based on minimum
Two multiply the predictive compensation algorithm of recursive algorithm；
(3) control strategy of plug-in hybrid-power automobile is double using rule-based plug-in hybrid electric vehicle power system
Scheme control strategy, control strategy are divided under charge-depleting mode control strategy under control strategy and charge-sustaining mode；
(4) simulation model of plug-in hybrid-power automobile CAN network control system is built, and is combined whole in Cruise software
Vehicle simulation model carries out associative simulation based on Typical Cities in China public transport state of cyclic operation.
9. plug-in hybrid-power automobile CAN network control method according to claim 8, which is characterized in that
In step (1), plug-in hybrid-power automobile vehicle simulation model is established based on Cruise software, the specific method is as follows:
1-1) using the power-driven system structure and whole-car parameters of uniaxial parallel connection type plug-in hybrid-power automobile；
1-2) choose four strokes, 6 cylinder direct injection formula diesel engine and parameter；
The mainstream motor for 1-3) selecting domestic new-energy automobile to use is AC asynchronous motor and parameter；
1-4) select lithium-ion-power cell and parameter；
1-5) determine legacy system type selecting and parameter；
1-6) each parameters of operating part of the vehicle based on determined by above step establishes plug-in hybrid vapour using Cruise software
Vehicle vehicle simulation model.
10. plug-in hybrid-power automobile CAN network control method according to claim 8, which is characterized in that
In step (2), the predictive compensation method based on least square recurrence method is determined, the specific method is as follows:
According to the priori knowledge of controlled device, the difference equation mathematical model of controlled device in CAN network control system is obtained:
Wherein, u (k) is controlled device list entries, and z (k) is controlled device output sequence；aiAnd bjFor constant coefficient, i=1,
2,...,na, j=1,2 ..., nb, naFor the order of control object output sequence, nbFor the order for controlling list entries, e (k)
For correction term；
Further, above formula is written as:
Z (k)=hT(k)θ+e(k)
Wherein:
H (k)=[- z (k-1) ... ,-z (k-na),u(k-1),...,u(k-nb)]
For L observation data, above formula constitutes a system of linear equations:
ZL=HLθ+NL
Wherein:
ZL=[z (1), z (2) ..., z (L)]T
NL=[e (1), e (2) ..., e (L)]T
As L > na+nbWhen, the parameter value of model is estimated according to least-squares algorithm:
In system operation, controller often receives new sensor signal, just on the basis of upper primary estimated value, benefit
With new prediction data, last estimated value is modified according to recursive algorithm, so that new estimated value is obtained, until reaching
Until the precision of definition, least square recurrence method is as follows:
P (k)=P (k-1)-K (k) hT(k)P(k-1)
Utilize the estimated value of model parameter, list entries u (k), output sequence z (k), so that it may predict that next sampling instant is controlled
The output valve z (k+1) of object processed；Then make the increment of controlled device output valve due to Networked-induced delay are as follows:
The increment calculates control amount for control algolithm feedback plus the sensor signal that controller is currently received, and actuator obtains
To control amount eliminate the need for the influence of Networked-induced delay, wherein τsc(k)、τcaIt (k) is respectively sensor to controller time delay
With controller to actuator time delay.
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