CN109888902B - Vehicle-mounted hybrid power supply energy management control method based on nonlinear programming - Google Patents
Vehicle-mounted hybrid power supply energy management control method based on nonlinear programming Download PDFInfo
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Abstract
The invention discloses a nonlinear programming-based vehicle-mounted hybrid power supply energy management control method, which comprises the following steps: establishing models of a storage battery and a super capacitor; establishing a first objective function according to the irregularity of the output current distribution of the storage battery and establishing a second objective function according to the charging and discharging energy of the super capacitor in the driving period; setting a voltage constraint condition of the super capacitor and a current constraint condition of the super capacitor at the side of the direct current bus, and minimizing the capacity of the super capacitor according to the voltage constraint condition of the super capacitor; establishing a third objective function and a constraint condition thereof based on a nonlinear programming theory; and constructing a Lagrange function, acquiring direct current bus current in real time, solving the Lagrange function based on a convexity assumption, and using the optimal solution of the Lagrange function as a reference current output by the storage battery, so that the storage battery is ensured to work in a constant current mode, and the storage battery is controlled to meet the energy requirement of the electric automobile load and the power requirement of the load provided by the super capacitor.
Description
Technical Field
The invention relates to the technical field of batteries, in particular to an energy management control method for a vehicle-mounted hybrid power supply.
Background
By virtue of the advantages of energy conservation, environmental protection and high efficiency, the electric automobile becomes a powerful support for the transition from the automobile industry to the strategy of sustainable development. However, the storage battery used in the current electric vehicle still cannot completely meet the high power requirement of frequent change in the driving working condition, so that the cycle life of the storage battery is greatly reduced. If the energy storage device supporting high peak power, such as a super capacitor, is applied to the electric automobile alone, the running range of the whole automobile is very limited due to the low performance of the super capacitor in terms of energy density. Based on the above, the hybrid power supply is formed by combining the storage battery with high energy density and the super capacitor with high power density, so that a feasible solution is provided, and the performance of the energy storage system of the electric automobile is improved to a great extent.
In a hybrid power supply, 1 or more DC/DC (Direct Current) power converters are usually configured to actively schedule the output and input of a storage battery and an ultracapacitor, and in this process, the control of the DC/DC power converters is the control of energy management between the storage battery and the ultracapacitor in the hybrid power supply, so the energy management control method is very important for exerting the advantages of the hybrid power supply. Common energy management control methods include a heuristic method, a prediction method and an optimization method, wherein the heuristic method excessively utilizes a super capacitor, resulting in increased loss of the hybrid power supply; the prediction method controls the input and output forces of the two power supplies by predicting the charge state and the health state of the storage battery, but errors often exist in prediction, so that the control accuracy of the method is not high; the optimization method takes the efficiency of the hybrid power supply as an optimization target and matches with corresponding constraint conditions to achieve the aim, but the method has the defects of large calculation amount and slow response time.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a vehicle-mounted hybrid power supply energy management control method based on nonlinear programming, and the technical problem that the energy between a storage battery and a super capacitor in the conventional hybrid power supply cannot be reasonably managed and controlled is effectively solved.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a nonlinear programming-based energy management control method for an on-board hybrid power supply is applied to an electric vehicle hybrid power supply driving system, wherein the electric vehicle hybrid power supply driving system comprises a hybrid power supply and a DC/DC converter, the hybrid power supply comprises a storage battery for providing energy and a super capacitor for providing power, the storage battery is directly connected with a direct-current bus, and the super capacitor is connected with the DC/DC converter in series and then connected with the storage battery in parallel; the energy management control method of the vehicle-mounted hybrid power supply comprises the following steps:
s10, establishing models of a storage battery and a super capacitor;
s20, establishing an objective function for energy management control of the vehicle-mounted hybrid power supply, wherein the objective function comprises a first objective function established according to irregularity of output current distribution of the storage battery and a second objective function established according to charging and discharging energy of the super capacitor in a driving period;
s30, setting a voltage constraint condition of the super capacitor and a current constraint condition of the super capacitor at the side of the direct current bus, and minimizing the capacity of the super capacitor according to the voltage constraint condition of the super capacitor;
s40, based on a nonlinear programming theory, establishing a third objective function according to the established first objective function and the minimum value of the capacity of the super capacitor, and obtaining a constraint condition of the third objective function according to the established second objective function, the set voltage constraint condition of the super capacitor, the current constraint condition of the super capacitor at the side of the direct current bus and the hybrid power supply driving system of the electric automobile;
s50, constructing a Lagrangian function according to the established third objective function and the constraint condition thereof;
s60, acquiring direct current bus current in real time, solving the Lagrange function based on the convexity assumption, and taking the optimal solution as the reference current output by the storage battery to finish the energy management control of the vehicle-mounted hybrid power supply.
According to the energy management control method of the vehicle-mounted hybrid power supply based on the nonlinear programming, provided by the invention, under the voltage constraint condition of the super capacitor and the current constraint condition of the super capacitor at the side of the direct-current bus, the capacity of the super capacitor is minimized, a third objective function is established according to the minimum value of the super capacitor, the current distribution of the storage battery is further minimized, the irregularity of the current distribution is reduced, the storage battery is ensured to work in a constant-current mode, the storage battery is controlled to meet the energy requirement of the electric vehicle load and the power requirement of the super capacitor for providing the load, and the energy management control of the vehicle-mounted hybrid power supply is completed.
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A more complete understanding of the present invention, and the attendant advantages and features thereof, will be more readily understood by reference to the following detailed description when considered in conjunction with the accompanying drawings wherein:
FIG. 1 is a schematic diagram of a hybrid power driving system of an electric vehicle according to the present invention;
fig. 2 is a flowchart illustrating an embodiment of a method for controlling energy management of a vehicle-mounted hybrid power supply according to the present invention.
Detailed Description
In order to make the contents of the present invention more comprehensible, the present invention is further described below with reference to the accompanying drawings. The invention is of course not limited to this particular embodiment, and general alternatives known to those skilled in the art are also covered by the scope of the invention.
Based on the technical problem that the energy between a storage battery and a super capacitor in a hybrid power supply in the prior art cannot be reasonably managed and controlled, the invention provides a vehicle-mounted hybrid power supply energy management control method based on nonlinear programming. As shown in fig. 1, a schematic diagram of a hybrid power supply driving system of an electric vehicle is shown, and it can be seen from the diagram that the hybrid power supply includes a storage battery for supplying energy and a super capacitor for supplying power, and the storage battery is directly connected with a direct Current bus, the super capacitor is connected with the storage battery in parallel after being connected with a DC/DC converter in series, and the load includes a main load of a motor and an auxiliary electrical load fed from the direct Current bus through a DC/AC (Alternating Current) inverter.
As shown in fig. 2, the energy management control method of the vehicle-mounted hybrid power supply includes:
s10, establishing models of a storage battery and a super capacitor;
s20, establishing an objective function for energy management control of the vehicle-mounted hybrid power supply, wherein the objective function comprises a first objective function established according to irregularity of output current distribution of the storage battery and a second objective function established according to charging and discharging energy of the super capacitor in a driving period;
s30, setting a voltage constraint condition of the super capacitor and a current constraint condition of the super capacitor at the side of the direct current bus, and minimizing the capacity of the super capacitor according to the voltage constraint condition of the super capacitor;
s40, based on a nonlinear programming theory, establishing a third objective function according to the established first objective function and the minimum value of the capacity of the super capacitor, and obtaining a constraint condition of the third objective function according to the established second objective function, the set voltage constraint condition of the super capacitor, the current constraint condition of the super capacitor at the side of the direct current bus and the hybrid power supply driving system of the electric automobile;
s50, constructing a Lagrangian function according to the established third objective function and the constraint condition thereof;
s60, the direct current bus current is obtained in real time, the Lagrange function is solved based on the convexity assumption, the optimal solution is used as the reference current output by the storage battery, and the vehicle-mounted hybrid power supply energy management control is completed.
Specifically, in step S10, the battery is equivalently configured to have a series configuration of an open circuit voltage and an internal resistance, and the output voltage v of the batterybAs shown in formula (1):
vb＝voc-Rbib(1)
wherein v isocIs the open circuit voltage of the battery, RbIs the equivalent internal resistance of the battery, ibIs the output current of the storage battery;
the super capacitor is equivalent to an ideal capacitor C, and the charge and discharge loss is ignored, so that the requirements of:
wherein v isscIs the voltage of the supercapacitor iscIs the output current of the super-capacitor,
the current of the super capacitor at the side of the direct current bus is the current of the super capacitor after passing through the DC/DC converter, and in the energy management control method of the vehicle-mounted hybrid power supply, the DC/DC converter works in an ideal state, namely power loss is ignored.
Because the technical problems to be solved in the process of energy management and control of the hybrid power supply are that the storage battery provides the energy requirement of the automobile load in the whole driving period, and the super capacitor meets the power requirement, namely the storage battery keeps constant current charging and discharging, and the super capacitor bears the peak current, the technical problems to be solved in the invention are converted into the change of the variance of the current of the storage battery (the variance can reflect the irregularity of specific parameters), the aim of reducing the peak current of the storage battery is achieved, and then the function psi as shown in the formula (3) is established:
wherein T is the driving period of the electric automobile, T is the running time of the electric automobile in the driving period, ib(t) is the output current of the battery at time t, Eib(t)]For the output current i of the accumulator during the drive cycleb(t) expected value.
Setting the energy contribution of the super capacitor to be zero in the whole driving period, and designing the reference current output by the storage battery to be
And satisfy
The energy demand is provided by the storage battery, and the power demand is provided by the super capacitor. According to the hybrid power supply driving system of the electric automobile, the instantaneous power integral of the super capacitor can be indirectly expressed by parameter variables of the storage battery, such as formula (4) and formula (5):
wherein, E [ i ]b(t)]Dependent on the open-circuit voltage v of the batteryocInternal resistance R of storage batterybAnd the DC bus current i in the driving periodt(t) expected value E [ i ]t(t)]，E[it(t)]Depending on the particular electric vehicle.
In practice, this ideal solution is not feasible because the voltage and current constraints with the supercapacitor must be considered, in particular by minimizing the first objective function in equation (6), the irregularity of the battery current distribution is minimized:
further, the function Ψ of formula (3) can be rewritten as formula (7):
wherein, E [ i ]b(t)]For the output current i of the accumulator during the drive cyclebThe expected value of (t) is a constant.
Depending on the charging and discharging energy of the super capacitor during the driving cycle, the minimization of the function Ψ in equation (7) can be solved by an isocycle constraint, as the second objective function of equation (8):
wherein T is the driving period of the electric automobile, T is the running time of the electric automobile in the driving period, ib(t) is the output current of the battery at time t, itAnd (t) is the current of the direct current bus at the time t.
The voltage constraint condition of the set super capacitor is as follows (9):
vsc,min≤vsc(t)≤vsc,max(9)
wherein v issc(t) the voltage of the supercapacitor at time t, vsc,minIs the maximum value of the voltage of the supercapacitor, vsc,maxIs the minimum value of the supercapacitor voltage;
the current constraint condition of the set super capacitor on the direct current bus side is as follows (10):
wherein,
for the current of the dc bus side supercapacitor at time t,
the maximum value of the super capacitor current at the direct current bus side.
The voltage constraint for the supercapacitor can be achieved by selecting an appropriate supercapacitor capacity, such as selecting a minimum value of the supercapacitor capacity to satisfy the voltage constraint of the supercapacitor.
The reference current output by the storage battery is
Satisfy the requirement of
The supercapacitor voltage v can be expressed by the formula (11)sc(t)：
Wherein v issc(0) And C is the super capacitor capacity. For convenience of description, let
And g (t) has positive and negative values, e.g. g (t) ═ g+(t)-g-(t)，0≤ξ≤t，it(ξ) is the current on the DC bus at time ξ,
which is the reference current output by the battery at time ξ.
The initial value v of the supercapacitor voltage based on equations (9) and (11)sc(0) The constraint of (2) is as inequality (12):
wherein,
is the maximum value of the positive values of g (t),
is the maximum value of negative values of g (t).
Thus, the minimum value C of the capacity of the super capacitor is obtainedminAs in formula (13):
at this time, the initial value v of the voltage of the super capacitorsc(0) As in formula (14):
the technical problem to be solved by the hybrid power supply energy management control can be realized based on a nonlinear programming theory to minimize the current distribution of the storage battery, reduce the irregularity thereof and ensure the isoperimetric constraint. Specifically, according to the established first objective function, the capacity of the super capacitor is minimized, and a third objective function as shown in formula (15) is established based on a nonlinear programming theory:
and obtaining a constraint condition of a third objective function according to the established second objective function, the set voltage constraint condition of the super capacitor, the current constraint condition of the super capacitor at the side of the direct current bus and the hybrid power supply driving system of the electric automobile, wherein,
the inequality constrains equation (16):
the equation constrains as in equation (17):
wherein n is the total number of samples in the driving period T, j is the number of samples in the driving period T, Δ T is the sampling interval time, vsc(j) To sample the voltage of the supercapacitor for the jth time,
for sampling the current of the supercapacitor at the DC bus side jb(j) Sampling the output current of the accumulator for the jth time it(j) Sampling the current of the direct current bus for the jth time; h is more than or equal to 0 and less than or equal to j-1,
for sampling the reference current, i, output by the battery for the h-th timet(h) And sampling the current of the direct current bus for the h time.
And then, constructing a Lagrange function as shown in a formula (18) according to the established third objective function and the constraint conditions thereof, and solving the nonlinear programming problem:
wherein, ck(x) Is a k-th generalized inequality constraint, hk(x) For the k-th generalized equation constraint, λkLagrange multiplier, mu, constrained by the kth generalized inequalitykConstrain h for the kth generalized equationk(x) Lagrange multiplier.
In the process of solving, a system of equations is constructed and solved according to the Lagrangian function as the formula (19):
after the direct current bus current is obtained, the equation set is solved based on the convexity assumption, and the optimal solution is used as the reference current output by the storage battery
And then, according to the acquired required power of the electric automobile, the reference current of the super capacitor can be acquired, and the energy management control of the vehicle-mounted hybrid power supply is completed.
Claims (8)
1. The energy management control method of the vehicle-mounted hybrid power supply based on the nonlinear programming is characterized by being applied to a hybrid power supply driving system of an electric vehicle, wherein the hybrid power supply driving system of the electric vehicle comprises a hybrid power supply and a DC/DC converter, the hybrid power supply comprises a storage battery for providing energy and a super capacitor for providing power, the storage battery is directly connected with a direct current bus, and the super capacitor is connected with the DC/DC converter in series and then is connected with the storage battery in parallel; the energy management control method of the vehicle-mounted hybrid power supply comprises the following steps:
s10, establishing models of a storage battery and a super capacitor;
s20, establishing an objective function for energy management control of the vehicle-mounted hybrid power supply, wherein the objective function comprises a first objective function established according to irregularity of output current distribution of the storage battery and a second objective function established according to charging and discharging energy of the super capacitor in a driving period;
s30, setting a voltage constraint condition of the super capacitor and a current constraint condition of the super capacitor at the side of the direct current bus, and minimizing the capacity of the super capacitor according to the voltage constraint condition of the super capacitor;
s40, based on a nonlinear programming theory, establishing a third objective function according to the established first objective function and the minimum value of the capacity of the super capacitor, and obtaining a constraint condition of the third objective function according to the established second objective function, the set voltage constraint condition of the super capacitor, the current constraint condition of the super capacitor at the side of the direct current bus and the hybrid power supply driving system of the electric automobile;
s50, constructing a Lagrangian function according to the established third objective function and the constraint condition thereof;
s60, acquiring direct current bus current in real time, solving the Lagrange function based on the convexity assumption, and taking the optimal solution as the reference current output by the storage battery to finish the energy management control of the vehicle-mounted hybrid power supply.
2. The vehicle-mounted hybrid power supply energy management control method according to claim 1, wherein in step S10:
the battery is equivalent to the structure of open circuit voltage and internal resistance series connection, satisfies:
vb＝voc-Rbib
wherein v isocIs the open circuit voltage of the battery, RbIs the equivalent internal resistance of the battery, ibIs the output current of the battery, vbIs the output voltage of the storage battery;
the super capacitor is equivalent to an ideal capacitor, and the charge and discharge loss is ignored, so that the requirements of:
wherein v isscIs the voltage of the supercapacitor iscIs the output current of the super-capacitor,
the current of the super capacitor at the side of the direct current bus.
3. The vehicle-mounted hybrid power supply energy management control method according to claim 2, wherein in step S20:
the first objective function established is:
the second objective function established is:
wherein T is the driving period of the electric automobile, T is the running time of the electric automobile in the driving period, ib(t) is the output current of the battery at time t, itAnd (t) is the current of the direct current bus at the time t.
4. The vehicle-mounted hybrid power supply energy management control method according to claim 3, wherein in step S30:
the voltage constraints of the super capacitor are as follows:
vsc,min≤vsc(t)≤vsc,max
wherein v issc(t) the voltage of the supercapacitor at time t, vsc,minIs the maximum value of the voltage of the supercapacitor, vsc,maxIs the minimum value of the supercapacitor voltage;
the current constraint conditions of the super capacitor at the side of the direct current bus are as follows:
wherein,
for the current of the dc bus side supercapacitor at time t,
the maximum value of the super capacitor current at the direct current bus side.
5. The vehicle-mounted hybrid power supply energy management control method according to claim 4, wherein in step S30:
minimum value of super capacitor capacity CminComprises the following steps:
initial value v of super capacitor voltagesc(0) Comprises the following steps:
wherein v isocIs the open circuit voltage of the battery, RbIs the equivalent internal resistance of the battery, ibIs the output current of the battery, Eib(t)]For the output current i of the accumulator during the drive cyclebThe expected value of (d);
is the maximum value of the positive values of g (t),
is the maximum value of the negative value of g (t),
the reference current is output by the storage battery at ξ time, and is more than or equal to 0 and less than or equal to ξ and less than or equal to t.
6. The vehicle-mounted hybrid power supply energy management control method according to claim 5, wherein in step S40, the third objective function is established as:
the constraint conditions of the third objective function include inequality constraints and equality constraints, wherein,
the inequality constraints are:
the equation is constrained to:
wherein n is the total number of samples in the driving period T, j is the number of samples in the driving period T, Δ T is the sampling interval time, vsc(j) To sample the voltage of the supercapacitor for the jth time,
for sampling the current of the supercapacitor at the DC bus side jb(j) Sampling the output current of the accumulator for the jth time it(j) Sampling the current of the direct current bus for the jth time; h is more than or equal to 0 and less than or equal to j-1,
for sampling the reference current, i, output by the battery for the h-th timet(h) And sampling the current of the direct current bus for the h time.
7. The vehicle-mounted hybrid power supply energy management control method according to claim 6, wherein in step S50, the lagrangian function is constructed as:
wherein, ck(x) Is a k-th generalized inequality constraint, hk(x) For the k-th generalized equation constraint, λkLagrange multiplier, mu, constrained by the kth generalized inequalitykConstrain h for the kth generalized equationk(x) Lagrange multiplier.
8. The vehicle-mounted hybrid power supply energy management control method according to claim 7, wherein in step S60, the method further comprises:
s61, constructing a solution equation set according to the Lagrangian function:
s62, acquiring direct current bus current in real time, solving the equation set based on the convexity assumption, and taking the optimal solution as the reference current output by the storage battery to complete the energy management control of the vehicle-mounted hybrid power supply.
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