CN110103975A - A kind of pattern switching G- Design method of multimodal fusion power vehicle - Google Patents

A kind of pattern switching G- Design method of multimodal fusion power vehicle Download PDF

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Publication number
CN110103975A
CN110103975A CN201910391284.4A CN201910391284A CN110103975A CN 110103975 A CN110103975 A CN 110103975A CN 201910391284 A CN201910391284 A CN 201910391284A CN 110103975 A CN110103975 A CN 110103975A
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pattern switching
mode
multimodal fusion
power vehicle
vehicle
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庄伟超
罗凯
殷国栋
刘畅
耿可可
黄泽豪
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Southeast University
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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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
    • 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
    • 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
    • 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
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • 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
    • 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
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/84—Data processing systems or methods, management, administration

Abstract

The present invention provides a kind of pattern switching G- Design methods of multimodal fusion power vehicle, extract optimization model switching figure from optimal control law using Dynamic Programming and machine learning method, propose a kind of pattern switching G- Design method of multimodal fusion power vehicle.The pattern switching figure can not only improve vehicle economy, moreover it is possible to improve the ride comfort of pattern switching, reduce impact and energy loss as caused by pattern switching.

Description

A kind of pattern switching G- Design method of multimodal fusion power vehicle
Technical field
The invention belongs to multimodal fusion vehicle technology fields, and in particular to a kind of mode of multimodal fusion power vehicle Switch G- Design method.
Background technique
Hybrid vehicle is to carry two or more power source to drive under different vehicle conditions using different mode Since hybrid vehicle still carries internal-combustion engine arrangement, therefore course continuation mileage and energy supplement is not present in the car category of vehicle Problem；The addition of motor enables engine long-term work in optimum working efficiency section, substantially increases ordinary internal combustion engine The energy conversion efficiency of automobile.Multimodal fusion power vehicle (Multi-mode Hybrid Electric Vehicle, MHEV) It is the hybrid vehicle type extended on the basis of Series-Parallel HEV, the spy of multimodal fusion power vehicle Point is that it can not only realize the energy-efficient such as Series-Parallel HEV, and the mutual cooperation of multiple modes can A variety of different working environments are adapted to, keep it more energy saving than single-mode hybrid vehicle；Meanwhile paralleling model is deposited Making it have the accelerating ability more excellent than traditional Series-Parallel HEV.
Currently, a common problem present in hybrid vehicle development process both at home and abroad is, hybrid vehicle by The design feature of two kinds of power source joint drivings of engine and driving motor determines under corresponding different operating condition that vehicle will be in Different drive modes needs to carry out pattern switching when to being converted under different operating conditions, and works as in mode handover procedure In, the steady-state target torque determined by energy management strategies be possible to generate mutation, in this course due to motor torque with The dynamic characteristic difference of motor torque is obvious, causes the total output torque of transmission system to generate big ups and downs, causes significant vehicle Longitudinal movement impact；On the other hand, partial mode handoff procedure need the combination of clutch with separate, clutch friction turns The discontinuity of the introducing of square and its torque characteristics can also make total torque mutate, and cause the impact of transmission system, shadow Ring the driving performance and comfort by bus of vehicle.Problem above seems more prominent under the operating condition of city, under this operating condition, The average speed per hour of vehicle is lower, and idling operation and braking are more, and start-stop is more frequent, therefore the mode of hybrid vehicle is cut Changing number can more frequently.Realize the coordinated control of hybrid vehicle multi-state, key is to realize that multi-state adaptive pattern is cut It changes.
Summary of the invention
To solve the above problems, the invention discloses a kind of pattern switching G- Design method of multimodal fusion power vehicle, The optimal control law of system can be calculated according to design performance index, Dynamic Programming is guaranteeing system energy-efficient It can reduce energy consumption caused by pattern switching and impact etc. simultaneously.
In order to achieve the above objectives, technical scheme is as follows:
A kind of pattern switching G- Design method of multimodal fusion power vehicle, comprising the following steps:
Step 1: the energy management control using Dynamic Programming to multimodal fusion power vehicle under various criterion state of cyclic operation Strategy processed optimizes, and Dynamic Programming performance indicator includes pattern switching energy penalty term；
Step 2: extracting each optimal control law of Dynamic Programming optimization, extract vehicle corresponding state under each tactic pattern Parameter set, the state parameter collection include speed, operator demand's torque information, and using speed as abscissa, and operator demand turns round Square is that ordinate draws state parameter figure；
Step 3: being classified using the method for support vector machines to the state parameter collection of above structure mode, to extract The pattern switching figure of the multimodal fusion power vehicle out.
Further, the optimum control of system can be calculated according to design performance index in Dynamic Programming described in step 1 It restrains, includes energy consumption caused by pattern switching and impact penalty term in the performance indicator of the Dynamic Programming, performance indicator is as follows Shown in formula.
Wherein,
Wherein, JcFor objective function, Xc(t) be system control variable, Λ is a certain standard cycle operating condition, gfuel(k) it is Fuel consumption of the hybrid vehicle at the k moment, SOC are battery charge state, SOCdesFor target SOC value, SOCfFor circulation Operating condition terminal SOC value, thenFor fuel consumption of the system in given state of cyclic operation, right formula is an end End state soft-constraint wishes that energy of battery at the end of state of cyclic operation does not have greatly changed, at this time could be fair The economy of evaluation system, due to being difficult the terminal power of battery being equal to ideal value, so relative to a hard constraint is used, Soft-constraint can be used to improve the service ability of Dynamic Programming.μ1It is the weight coefficient of the soft-constraint, in practical debugging process In, by μ1Value be chosen for just the terminal power of battery capable of being made to return to value corresponding to target value.δ is pattern switching penalty term The judgement factor, as δ=0, system non-mode switch penalty；As δ=1, there are pattern switching punishment for system.The mode is cut The core for changing penalty term is to calculate the kinetic energy difference before and after pattern switching, and when difference is big, there are larger before and after pattern switching Capacity volume variance, then system can lose a part of kinetic energy, or need to export a part of power acceleration components, at the same will also result in compared with Big vibration influences vehicle advance ride comfort.In formula, α1、α2With α3It is the weight coefficient of each dynamical element.
Further, tactic pattern described in step 2 includes single motor electric-only mode, pure motor electric-only mode, input Type power dividing mode, fixed drive ratio paralleling model, compound power dividing mode.
Further, the method for support vector machines described in step 3, the vehicle for the state parameter collection that can be obtained according to step 2 Speed-operator demand's torque combinations are as sample, using each tactic pattern as classified types, obtain multimodal fusion power vehicle Pattern switching figure.
The beneficial effects of the present invention are:
Pattern switching G- Design method proposed by the present invention based on Dynamic Programming can not only improve vehicle economy, also The ride comfort of pattern switching can be improved, impact and energy loss as caused by pattern switching are reduced.
Detailed description of the invention
Fig. 1 is the pattern switching G- Design method entire block diagram of multimodal fusion power vehicle of the present invention.
Fig. 2 is the operating point distribution of non-mode switch penalty item multimodal fusion power vehicle of the invention.
Fig. 3 is the operating point distribution for having pattern switching penalty term multimodal fusion power vehicle of the invention.
Operating point distribution map under processed charge-sustaining mode Fig. 4 of the invention.
Fig. 5 is the pattern switching figure under charge-sustaining mode of the invention.
Specific embodiment
With reference to the accompanying drawings and detailed description, the present invention is furture elucidated, it should be understood that following specific embodiments are only For illustrating the present invention rather than limiting the scope of the invention.
The pattern switching G- Design method of a kind of multimodal fusion power vehicle of the present invention, with dynamic property, economy With the vehicle performances such as level of NVH as optimization aim.
Step 1: the energy management control using Dynamic Programming to multimodal fusion power vehicle under various criterion state of cyclic operation Strategy processed optimizes, and Dynamic Programming performance indicator includes pattern switching energy penalty term.
Choosing different state of cyclic operation includes five typical conditions such as FUDS, HWFET, NEDC, US06 and WLTP.Wherein FUDS, HWFET, US06 are the measurement condition of U.S. environment protection portion EPA, and NEDC is the testing standard operating condition in Europe, and WLTP (Worldwide Hramonirzed Light Vehicles Test Procedures) is that a global cooperation is united Measurement condition.
Step 2: extracting each optimal control law of Dynamic Programming optimization, extract vehicle corresponding state under each tactic pattern Parameter set, the state parameter collection include speed, operator demand's torque information, and using speed as abscissa, and operator demand turns round Square is that ordinate draws state parameter figure.
Extracting includes each operating condition of band model switch penalty item and non-mode switch penalty item under each standard cycle operating condition The motion profile of lower vehicle, the track SOC, oil consumption curve, the parameters such as engine, the revolving speed of MG1, MG2 and torque.
By system under above-mentioned five standard cycle operating conditions, the state of each tactic pattern is uniformly plotted in speed as horizontal seat Mark, operator demand's torque are on the figure of ordinate.If Fig. 2 is respectively that non-mode switch penalty Xiang Yuyou pattern switching is punished with 3 The operating point distribution map of item is penalized, wherein different tactic patterns is indicated using different colors, red is the pure electricity of mode I single motor Dynamic model formula (MG2), blue are the pure motor electric-only mode of mode II, and orange is the imported power dividing mode of mode III, green For mode IV fixed drive ratio paralleling model, purple is the compound power dividing mode of mode V.
Two figures are compared, it can be found that existing before pattern switching penalty term is added, between each tactic pattern more multiple Folded working region, or even there are three tactic patterns to appear in certain working regions simultaneously.And pattern switching penalty term is being added Later, although there are certain overlapping by mode II (pure motor electric-only mode) and mode III (imported power dividing mode) Region, but each tactic pattern shows relatively clear working region.Mode II and the working range of mode III are wider, but mould Formula II more works in middle low speed low torque demand region, and mode III then works the high torque demand region in middle low speed, and Mode V (compound power dividing mode) then significantly works in high speed operation region, or can be described as work and patrolling at a high speed Under boat state, this is also one of the general the reason of mode is known as high speed cruise regime.
Above-mentioned mode II, overlaps with mode III and mode V, this is because mode III and mode V are in low speed The efficiency in low torque region is not highest, therefore system tends to the higher electric-only mode of service efficiency；Work as battery capacity When higher or high speed high torque state duration is not long, in order to avoid in frequent pattern switching or mode handover procedure Energy loss is larger, and system is tended to continue to use electric-only mode driving；When the batteries are low, unless car speed or Demand torque is especially low, and system can tend to that battery is made to be in charged state using combination drive mode.
It can be seen that different combination drive modes has different working efficiencies, and system meeting in different working regions Preferential selection high efficiency region work.
Step 3: being classified using the method for support vector machines to the state parameter collection of above structure mode, to extract The pattern switching figure of the multimodal fusion power vehicle out.
Classify to the operating point of 2016 tactic pattern of Volt shown in Fig. 3, Volt 2016 is a plug-in mixed Close power vehicle comprising electricity keeps CS and kwh loss CD both of which.Electric-only mode is generally used only in kwh loss, And electric-only mode only is used in low speed low torque demand region under charge-sustaining mode.
Under kwh loss mode, compared to mode I, mode II, the energy efficiency that system uses electric-only mode to drive is more Height, therefore mode II can be used only in kwh loss mode and drive vehicle；And under charge-sustaining mode, if directly using support to Amount machine classifies to the operating point of Fig. 3, and electric-only mode inherently occupies biggish working range, thus to operating point be distributed into Row pretreatment.It is found from figure, mode III is not operate at lower left corner low speed low torque demand region substantially, therefore only retains the area Pure electric vehicle drive mode in domain, last operating point distribution map are as shown in Figure 4.
Finally, being divided using support vector machines to the tactic pattern region that electricity is kept, as a result such as Fig. 5.In figure It can be seen that electric-only mode EV (mode II) work is in low speed low torque region, compound power dividing mode (mode V) work Make in high speed operation region, and imported power dividing mode (mode III) works in remaining region.It should be noted that The working region of mode II and mode V is simultaneously non-conterminous, but is separated by mode III, that is to say, that between mode II and mode V Carry out pattern switching can in mode III as a transition state.Thus the mode of the multimodal fusion power vehicle is extracted Switching figure.
The technical means disclosed in the embodiments of the present invention is not limited only to technological means disclosed in above embodiment, further includes Technical solution composed by arbitrarily being improved by the above technical characteristic.

Claims (4)

1. a kind of pattern switching G- Design method of multimodal fusion power vehicle, it is characterised in that: the following steps are included:
Step 1: plan being controlled to energy management of the multimodal fusion power vehicle under various criterion state of cyclic operation using Dynamic Programming It slightly optimizes, Dynamic Programming performance indicator includes pattern switching energy penalty term；
Step 2: extracting each optimal control law of Dynamic Programming optimization, extract vehicle corresponding state parameter under each tactic pattern Collection, which includes speed, operator demand's torque information, and using speed as abscissa, operator demand's torque is Ordinate draws state parameter figure；
Step 3: being classified using the method for support vector machines to the state parameter collection of above structure mode, to extract this The pattern switching figure of multimodal fusion power vehicle.
2. the pattern switching G- Design method of multimodal fusion power vehicle according to claim 1, it is characterised in that: step The optimal control law of system can be calculated according to design performance index in 1 Dynamic Programming, and the performance of the Dynamic Programming refers to Include energy consumption caused by pattern switching and impact penalty term in mark, performance indicator is shown below:
Wherein,
Wherein, JcFor objective function, Xc(t) be system control variable, Λ is a certain standard cycle operating condition, gfuelIt (k) is mixing Fuel consumption of the power vehicle at the k moment, SOC are battery charge state, SOCdesFor target SOC value, SOCfFor state of cyclic operation Terminal SOC value, thenFor fuel consumption of the system in given state of cyclic operation, right formula is a terminal shape State soft-constraint wishes that energy of battery at the end of state of cyclic operation does not have greatly changed, evaluation that at this time could be fair The economy of system, can be with so relative to a hard constraint is used due to being difficult the terminal power of battery being equal to ideal value The service ability of Dynamic Programming, μ are improved using soft-constraint1It is the weight coefficient of the soft-constraint, it, will in practical debugging process μ1Value be chosen for that the terminal power of battery can just be made to return to value corresponding to target value, δ is sentencing for pattern switching penalty term The disconnected factor, as δ=0, system non-mode switch penalty；As δ=1, there are pattern switching punishment, the pattern switchings to punish for system The core of item is penalized to be to calculate the kinetic energy difference before and after pattern switching, when difference is big, there are large energies before and after pattern switching Difference, then system can lose a part of kinetic energy, or need to export a part of power acceleration components, while will also result in biggish Vibration, influences vehicle advance ride comfort, in formula, α1、α2With α3It is the weight coefficient of each dynamical element.
3. the pattern switching G- Design method of multimodal fusion power vehicle according to claim 1, it is characterised in that: step 2 tactic patterns include single motor electric-only mode, bi-motor electric-only mode, imported power dividing mode, compound Power dividing mode and fixed drive ratio paralleling model.
4. the pattern switching G- Design method of multimodal fusion power vehicle according to claim 1, it is characterised in that: step The method of 3 support vector machines, the speed-operator demand's torque combinations for the state parameter collection that can be obtained according to step 2 As sample, the type of partition structure mode obtains the pattern switching figure of multimodal fusion power vehicle.
CN201910391284.4A 2019-05-12 2019-05-12 A kind of pattern switching G- Design method of multimodal fusion power vehicle Pending CN110103975A (en)

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Application publication date: 20190809