CN110182069B - Electric automobile range extender generated power closed-loop control method - Google Patents
Electric automobile range extender generated power closed-loop control method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
- B60L50/62—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles charged by low-power generators primarily intended to support the batteries, e.g. range extenders
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- 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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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Abstract
The invention discloses a power generation power closed-loop control method of an electric automobile range extender, which comprises six steps of mechanical power prediction, mechanical power correction, mechanical power decoupling, migration trajectory control, mechanical power realization and power generation power feedback; the method of the invention simultaneously implements feedforward prediction and feedback closed loop on the range extender system, not only retains the advantage of fast response of feedforward control, but also inherits the characteristics of stable output and high control precision of feedback control, thereby reducing the error between the target generating power and the actual generating power of the range extender and ensuring the efficient and stable operation of the range extender. The invention sets the optimal operation track line and the track control line, so that the rotating speed and the torque of the range extender are adjusted and transferred along the optimal operation track line as far as possible in the steady-state and transient power generation power regulation process, the efficiency and the emission of the range extender reach an ideal state while the range extender responds to the request power with different magnitudes, and the controllability and the operation performance of the range extender are effectively ensured.
Description
Technical Field
The invention mainly relates to a power generation power closed-loop control method of an electric automobile range extender, which belongs to the field of new energy automobiles and is mainly used for controlling the power generation power of the electric automobile range extender, so that the power generation power response speed is high, the steady-state error is small, the power generation power can dynamically migrate along the optimal operation trajectory line, the range extender can dynamically respond to the power generation power, and the high efficiency and the low emission of the range extender can be ensured in the response process.
Background
Limited by the current technical level of batteries and manufacturing cost, the extended range electric vehicle is one of the most ideal vehicle models for the transition from the traditional vehicle to the future pure electric vehicle. The extended range electric vehicle not only keeps the characteristics of pure electric drive, energy saving, high efficiency and environmental protection, but also solves the problems of small energy density of a power battery, short pure electric endurance mileage, inconvenient charging, long charging waiting time and the like of the existing pure electric vehicle by adding a set of internal combustion engine power generation or fuel cell power generation device on the platform of the traditional electric vehicle.
The existing range-extending device for the electric automobile generally adopts the integrated coupling design of a generator and an internal combustion engine, and realizes the start and stop as required and the active adjustment of output voltage, output current, output power and power factor of the internal combustion power generation range-extending device through inversion and controllable rectification technologies. The control precision and the response speed of the generated power of the range extender and the migration strategy among different power generation working conditions are the keys influencing the dynamic property, the economical efficiency and the emission performance of the range-extended electric automobile.
The common method for controlling the generated power of the range extender of the electric automobile comprises feedforward control and feedback control. The feedforward control usually corrects the power output quantity to a certain extent according to data collected in advance, and has the advantages of simplicity, convenience, high response speed and the like, but the control effect is poor; the feedback control compares the output power of the range extender with the expected power and adjusts the power according to the generated deviation value, so that the feedback control has the advantages of stable output and good control effect, but the response speed is slow.
In addition, when the range extender of the electric vehicle is actually operated, the range extender is usually operated only at certain operating points in order to ensure high efficiency. The operation method has the advantages that the high efficiency and the low emission of the range extender can be maintained, and the defects that the dynamic responsiveness is lacked and the achievable power range is smaller are overcome.
Disclosure of Invention
The invention provides a closed-loop control method for the power generation power of a range extender, which is based on the optimal working condition running track of the range extender and adopts a feedforward and feedback composite control mode, aiming at the defects of the conventional power generation power control method for the range extender of an electric vehicle.
The mechanical power mentioned in the present invention refers to the power transmitted between the engine and the generator when the range extender is running, also called the power on the shaft, the actual value is usually calculated according to the rotating speed and the torque of the range extender, and the calculation formula of the actual output mechanical power is as follows:
Pmo＝Tmo*nmo/9550
in the formula: pmoActual mechanical power output by the range extender is kW; n ismoThe actual output rotating speed of the range extender is expressed in the unit of revolutions per minute; t ismoThe actual output torque of the range extender is expressed in the unit of N m;
the generated power referred to in the present invention refers to the amount of energy output by the range extender in the form of electrical energy per unit time, and the actual value is usually calculated after measuring the voltage and current of the output. Because the electric energy output by the range extender is converted from mechanical energy, the power generation power of the range extender is always smaller than the mechanical power under the influence of factors such as abrasion, iron loss, copper loss and the like.
The invention provides a closed-loop control method for the power generation power of an electric automobile range extender, which comprises the following steps:
(1) and predicting mechanical power. In this step, the present invention performs feedforward control and calculation of the generated power. The RCU firstly obtains target generating power through CAN communication, and then performs feedforward calculation according to generator generating efficiency tables under different working conditions obtained through measurement in advance to obtain target mechanical power used by the range extender in operation;
(2) and (6) correcting the mechanical power. The invention selects to carry out feedback closed-loop control on the generated power. The RCU obtains a feedback compensation value output by the PID regulating system of the generating power in real time, and carries out superposition operation on the feedback compensation value and the target mechanical power at the current moment to obtain the corrected mechanical power, so that the range extender can reach the target state as soon as possible.
(3) The mechanical power is decoupled. The RCU obtains a target rotating speed and a target torque corresponding to the mechanical power after the feedback correction by referring to the optimal operation trajectory of the range extender calibrated in advance, and completes the decoupling of the mechanical power after the range extender is corrected.
(4) And controlling the migration track. After the decoupled target torque and target rotating speed values are obtained, the RCU calculates the allowable ranges of the target rotating speed and the target torque of the range extender under the current torque and the rotating speed according to a track control line, and controls the range extender according to the allowable ranges. If the target rotating speed or the target torque exceeds the maximum value or the minimum value corresponding to the track control line, the target rotating speed or the target torque is limited within the range of the track control line, so that the actual running track line of the range extender is prevented from excessively deviating from the optimal running track line calibrated in advance, the range extender is enabled to run in an ideal state as far as possible, the efficiency is effectively improved, and the emission is reduced.
(5) Mechanical power is achieved. After obtaining the corrected target rotation speed and target torque, the RCU transmits the target torque and target rotation speed to the ECU and GCU, respectively, by means of CAN communication. The ECU is responsible for controlling the engine to realize target torque closed-loop control, and the GCU is responsible for controlling the generator to realize target rotating speed closed-loop control.
(6) And (5) generating power feedback. After the range extender outputs the generated power, the RCU calculates the actual output power of the range extender at the current moment, and after calculating the difference between the actual output power and the target generated power at the next moment, the RCU inputs the difference into a generated power PID regulating system, outputs a feedback compensation value, and performs superposition operation with the target mechanical power at the next moment to complete the closed loop.
The optimal operation trajectory line is a one-dimensional curve drawn on the basis of a universal characteristic curve graph. The trajectory line is an optimal operation route designed after the factors such as emission, oil consumption, performance and the like are comprehensively considered through methods such as chart calculation, bench test and the like before the range extender operates, and is an operation route of the electric automobile range extender under ideal conditions. In the invention, when the range extender of the electric automobile is in an ideal power generation state, the rotating speed and the torque of the range extender dynamically migrate along the optimal operation track line, so as to respond to the request power with different magnitudes.
The track control line is two curves set on the basis of a universal characteristic curve graph and an optimal running track line and respectively arranged on two sides of the optimal running track line, and the curves define the limit of the running working condition range of the range extender.
The invention has the beneficial effects that:
1. the control method of the invention simultaneously implements feedforward prediction and feedback closed loop on the range extender system, not only retains the advantage of fast feedforward control response, but also inherits the characteristics of stable feedback control output and high control precision, thereby reducing the error between the target generating power and the actual generating power of the range extender and ensuring the efficient and stable operation of the range extender.
2. The control method of the invention is provided with the optimal operation track line and the track control line, so that the rotating speed and the torque of the range extender are adjusted and transferred along the optimal operation track line as far as possible in the process of regulating the steady-state and transient power generation power, the efficiency and the emission of the range extender reach an ideal state while the range extender responds to the request power with different sizes, and the controllability and the operation performance of the range extender are effectively ensured.
Drawings
FIG. 1 is a schematic diagram of an optimal operating trajectory and trajectory control line;
FIG. 2 is a flow chart of the closed loop control of the generated power of the range extender based on the combination of feedforward and feedback;
FIG. 3 is a flow chart of target torque migration trajectory control;
fig. 4 is a flowchart of target rotational speed transition trajectory control.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention provides an electric automobile Range extender, which comprises an Engine, a Generator, an Engine Control Unit (ECU), a Generator Control Unit (GCU) and a Range-extender Control Unit (RCU); the engine and the generator are connected in a mechanical coaxial mode to form a range extender; the generator outputs high-voltage direct current through a generator controller; the ECU and the GCU interact with the RCU in a CAN bus communication mode.
FIG. 2 shows a general flow chart of the method for closed-loop control of the generated power of the range extender of the electric vehicle. The closed-loop control method can be roughly divided into six steps of mechanical power prediction, mechanical power correction, mechanical power decoupling, migration trajectory control, mechanical power realization and power generation power feedback.
The mechanical power prediction part of the invention refers to that in the running process of the range extender of the electric automobile, an RCU receives a power request instruction from a superior controller through CAN communication, calculates the value of a target power generation power, then obtains the power generation efficiency of a generator corresponding to the target power generation power by consulting the power generation efficiency table of the generator according to the current motor temperature, the target power generation power and other variables, predicts and calculates the target mechanical power required by the running of the range extender, and the feedforward prediction calculation formula of the target mechanical power is as follows:
Pm＝Pg/ηg
in the formula etagThe power generation efficiency is a dimensionless parameter; pmTarget mechanical power in kW; pgThe unit is kW for the target generated power.
The reason is that the generator has a certain loss in the process of converting mechanical energy into electric energy, so that the target power generation power must be subjected to feed-forward prediction to obtain the target mechanical power used by the range extender to execute, so that the power is close to or equal to the mechanical power actually required by the range extender during power generation, and the system responsiveness is improved. In addition, the generator generating efficiency table required by the feedforward calculation process can be obtained through a motor bench test.
The mechanical power correction of the invention means that the RCU acquires a feedback compensation value output by a power generation PID regulating system in real time, and performs superposition operation on the feedback compensation value and the target mechanical power at the current moment to acquire the corrected mechanical power. The generated power PID control system calculates the difference between the actual generated power at the previous moment and the target generated power at the current moment. The actual generated power of the range extender is possibly inconsistent with the required generated power due to factors such as generating efficiency errors, ECU (electronic control unit) and GCU (general control unit) torque and rotating speed steady-state control errors and the like, so that the existing required generated power is compensated after PID (proportion integration differentiation) adjustment is carried out according to the difference value of the actual generated power and the required generated power, so that the actual generated power of the range extender is equal to the target generated power as soon as possible.
The mechanical power decoupling means that after the corrected mechanical power required by the range extender to operate is calculated, the RCU refers to a target rotating speed and a target torque corresponding to the target mechanical power according to an optimal operation working condition point on an optimal operation track line, and the optimal operation track line is shown in the attached figure 1. And if the RCU operating condition point is between the two optimal operating condition points, acquiring the target rotating speed and the target torque by using an interpolation calculation method. This is because in the present invention, the engine and the generator cannot directly accept power control, but only speed control or torque control can be used, and therefore, it is necessary to decouple the target mechanical power into the target speed and the target torque.
The migration trajectory control means that after a target rotating speed and a target torque are obtained, according to two trajectory control lines, the maximum value and the minimum value represented by working points on the trajectory control lines corresponding to the current rotating speed and the current torque are respectively calculated, and whether the target rotating speed and the target torque are between the maximum value and the minimum value is compared. The trajectory control line is shown in fig. 1, and the torque control and speed control flow charts are shown in fig. 3 and 4, respectively. If the target rotating speed is greater than the maximum rotating speed value, the target rotating speed is adjusted to the maximum rotating speed value; if the target rotating speed is less than the minimum rotating speed value, the target rotating speed is adjusted to the minimum rotating speed value; if the target rotation speed is between the maximum rotation speed value and the minimum rotation speed value, the original target rotation speed value is maintained unchanged. Similarly, if the target torque is greater than the maximum torque value or less than the minimum torque value, the target torque is adjusted to the maximum torque value or the minimum torque value; if the target torque value is between the maximum torque value and the minimum torque value, the original target torque value is maintained. The track control line is set for controlling the actual running track line of the range extender of the electric automobile, so that the track line returns to the optimal running track line as far as possible when the deviation is large, the range extender is ensured to be in a preset ideal working state as far as possible, and the high efficiency and low emission of the range extender are ensured.
The mechanical power realization of the invention means that the RCU respectively sends two control quantities to the ECU and the GCU after obtaining the corrected target torque and target rotating speed, and the two control quantities are respectively realized by controlling the engine and the generator by the RCU. The ECU controls the engine to realize the torque output of the range extender, and the ECU is provided with a closed loop feedback system with a PID (proportion integration differentiation) adjusting function. When the target torque is not equal to the actual output torque, namely according to the difference value between the target torque and the actual torque, after a compensation value is calculated and obtained through the closed-loop feedback system, the control parameters of the engine, such as the ignition advance angle, the throttle valve opening degree and the fuel injection amount, are changed, and the actual output torque is adjusted to be close to or equal to the target control torque. And the generator controls the rotating speed output of the range extender. The closed-loop feedback system with a small PID adjusting system is also arranged in the closed-loop feedback system, and when the target rotating speed is not accordant with the actual rotating speed, the actual output rotating speed is enabled to be close to or equal to the target control rotating speed by changing the motor load and the control current.
The generated power feedback refers to that after the range extender outputs power, the related sensor collects the output current and the output voltage of the generator at the current moment, after the actual output electric power of the motor is obtained through multiplication calculation, the actual output electric power and the target generated power at the next moment are subjected to subtraction calculation, the calculated difference value is input into a generated power PID regulating system, and the generated power PID regulating system calculates to obtain a generated power feedback compensation value. Subsequently, the generated power feedback compensation value is input to the mechanical power correction link. Thus, the closed-loop regulation of the generated power is completed.
The invention has three closed-loop regulation systems which are respectively as follows: the engine closed-loop regulation, the generator closed-loop regulation system and the range extender power closed-loop system are respectively controlled by the ECU, the GCU and the RCU, and respectively control a torque closed-loop of the engine, a rotating speed closed-loop of the generator and a power closed-loop of the range extender. The three closed-loop regulating systems jointly guarantee the stable operation of the range-extended power generation system.
The invention adopts a composite control mode combining feedforward and feedback to carry out closed-loop control on the power generation power of the range extender, improves the control precision and the response speed of the output power of the range extender, simultaneously limits the torque and rotating speed migration track of the power generation working condition of the range extender, ensures high efficiency and low emission of the range extender during operation, and has important significance for increasing the endurance mileage of the range-extended electric automobile and reducing the emission and oil consumption of the whole automobile.
One skilled in the art can, using the teachings of the present invention, readily make various changes and modifications to the invention without departing from the spirit and scope of the invention as defined by the appended claims. Any modifications and equivalent variations of the above-described embodiments, which are made in accordance with the technical spirit and substance of the present invention, fall within the scope of protection of the present invention as defined in the claims.
Claims (1)
1. A closed-loop control method for the generated power of a range extender of an electric vehicle is characterized by comprising the following steps:
(1) predicting the mechanical power: the RCU obtains target generating power through CAN communication, and performs feedforward calculation according to a generator generating efficiency table obtained in advance under different working conditions to obtain target mechanical power used by the range extender in operation;
(2) and (3) mechanical power correction: the RCU acquires a feedback compensation value output by a PID (proportion integration differentiation) regulating system of the generating power in real time, and performs superposition operation on the feedback compensation value and the target mechanical power at the current moment to acquire the corrected mechanical power;
(3) mechanical power decoupling: the RCU obtains a target rotating speed and a target torque corresponding to the mechanical power after feedback correction by referring to a pre-calibrated optimal operation trajectory of the range extender, and completes decoupling of the mechanical power after correction of the range extender; the optimal operation track line is a curve drawn on the basis of a universal characteristic curve graph, is an optimal operation route designed before the range extender operates, and is an operation route of the range extender of the electric automobile under ideal conditions; when the range extender of the electric automobile is in an ideal power generation state, the rotating speed and the torque of the range extender dynamically migrate along the optimal running track line so as to respond to the request power with different magnitudes; if the RCU operating condition point is between the two optimal operating condition points, the target rotating speed and the target torque are obtained by using an interpolation calculation method;
(4) and (3) migration track control: the RCU calculates the target rotating speed of the range extender and the allowable range of the target torque under the current torque and rotating speed according to the track control line, and if the target rotating speed or the target torque exceeds the maximum value or the minimum value corresponding to the track control line, the target rotating speed or the target torque is limited within the range of the track control line; the track control lines are two curves set on the basis of a universal characteristic curve graph and an optimal running track line and are respectively arranged on two sides of the optimal running track line, and the curves define the limit of the running working condition range of the range extender; if the target rotating speed is greater than the maximum rotating speed value, the target rotating speed is adjusted to the maximum rotating speed value; if the target rotating speed is less than the minimum rotating speed value, the target rotating speed is adjusted to the minimum rotating speed value; if the target rotating speed is between the maximum rotating speed value and the minimum rotating speed value, maintaining the original target rotating speed value unchanged; if the target torque is greater than the maximum torque value or less than the minimum torque value, adjusting the target torque to the maximum torque value or the minimum torque value; if the target torque value is between the maximum torque value and the minimum torque value, maintaining the original target torque value unchanged; the ECU controls the engine to realize target torque closed-loop control, the ECU is provided with a closed-loop feedback system with a PID (proportion integration differentiation) adjusting function, when the target torque is not equal to the actual output torque, namely according to the difference value of the target torque and the actual torque, after a compensation value is calculated and obtained by the closed-loop feedback system, the control parameter of the engine is changed, and the actual output torque is adjusted to be close to or equal to the target control torque; the GCU controls the generator to realize the closed-loop control of the target rotating speed, the GCU is provided with a closed-loop feedback system with a PID (proportion integration differentiation) adjusting function, and when the target rotating speed does not accord with the actual rotating speed, the actual output rotating speed is close to or equal to the target control rotating speed by changing the control parameters of the motor;
(5) mechanical power realization: the RCU sends the target torque and the target rotating speed to the ECU and the GCU respectively in a CAN communication mode, the ECU controls the engine to realize the target torque closed-loop control, and the GCU controls the generator to realize the target rotating speed closed-loop control;
(6) generating power feedback: after the range extender outputs the generated power, the RCU calculates the actual output power of the range extender at the current moment, and after calculating the difference between the actual output power and the target generated power at the next moment, the RCU inputs the difference into a generated power PID regulating system, outputs a feedback compensation value, and performs superposition operation with the target mechanical power at the next moment to complete the closed loop.
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