CN110481340A - A kind of dynamical system and integrated control method of lithium cell electric car - Google Patents
A kind of dynamical system and integrated control method of lithium cell electric car Download PDFInfo
- Publication number
- CN110481340A CN110481340A CN201910786422.9A CN201910786422A CN110481340A CN 110481340 A CN110481340 A CN 110481340A CN 201910786422 A CN201910786422 A CN 201910786422A CN 110481340 A CN110481340 A CN 110481340A
- Authority
- CN
- China
- Prior art keywords
- motor
- power
- vehicle
- control
- formula
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land 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
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- General Physics & Mathematics (AREA)
- Medical Informatics (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Sustainable Energy (AREA)
- Software Systems (AREA)
- Health & Medical Sciences (AREA)
- Sustainable Development (AREA)
- Life Sciences & Earth Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of dynamical systems of lithium cell electric car, including motor parameter selection system, power train ratio selection system, lithium battery energy and Capacity Selection system and vehicle dynamical system, the motor parameter selection system includes determining motor continuous power system and determining motor peak power parameter system；The operating mode of low speed perseverance torque, high speed invariable power may be implemented by motor parameter selection system, and easily realize stepless speed regulation, meet the requirement of max. speed and max. climb slope, the performance of electric vehicle can effectively be played, it can guarantee the dynamic property and continual mileage of electric vehicle, be conducive to keep abundant power in vehicle, the non-linear and degree of coupling of vehicle is reduced by chromatographic analysis, total longitudinal force, total lateral force needed for car body, total yaw moment are found out using vehicle inverse dynamics, realize driving intention, it is more preferable for the riding comfort of occupant.
Description
Technical field
The invention belongs to electric motor coach technical fields, and in particular to a kind of dynamical system of lithium cell electric car.Meanwhile
The invention further relates to a kind of integrated control methods of the dynamical system of lithium cell electric car.
Background technique
Make with the rapid growth of car ownership with the gradually saturation of road passage capability road congestion, traffic accident,
Phenomena such as environmental pollution, energy waste, worldwide becomes increasingly severe.How to effectively improve vehicle safety performance,
Environment purification reduces the important topic that road traffic accident has become countries in the world government and scientific research institution's facing.Pure electricity
Electrical automobile has the advantage that 1. zero-emission.Pure electric automobile uses electric energy, is discharged under steam without exhaust gas, free from environmental pollution.②
Electric car is higher than the energy utilization rate of gasoline engine driving automobile.3. eliminating engine because using single electric energy, becoming
Fast device, fuel tank, cooling and exhaust system, so structure is simpler.4. noise is small.5. automobile can be carried out in electricity consumption ebb to fill
Electricity can stabilize the peak-valley difference of power grid, generating equipment is made to be fully used.
But traditional electric motor coach causes motor parameter and power train transmission ratio to be arranged unreasonable due to design reasons,
Cause transmission effect poor, makes it difficult to effectively play the power of electric vehicle, and the selection setting of the energy content of battery and capacity is not
Rationally, it is difficult to play the energy of battery completely, it is therefore desirable to design the dynamical system and integrated control of a kind of lithium cell electric car
Method processed.
Summary of the invention
The purpose of the present invention is to provide the dynamical systems and integrated control method of a kind of lithium cell electric car, to solve
Problem certainly set forth above.
The dynamical system of a kind of lithium cell electric car disclosed by the invention, comprising: motor parameter selects system, transmission
It is ratio selection system, lithium battery energy and Capacity Selection system and vehicle dynamical system.
The motor parameter selection system comprises determining that motor continuous power system and determines motor peak power parameter
System；
The operating mode of low speed perseverance torque, high speed invariable power may be implemented in the power train ratio selection system, and
Easily realize stepless speed regulation；Wherein, transmission ratio i should meet max. speed requirement simultaneously, i.e. formula (1) and max. climb slope is wanted
It asks, i.e. formula (2):
In formula: NmaxFor motor maximum (top) speed, unit is rev/min (rpm)；R is diameter of tyres, unit m；uamaxFor most
High speed, unit km/h；
FamaxMaximum running resistance when to climb, unit are ox (N)；ηTFor the mechanical efficiency of power train；TmaxFor motor
Torque capacity, unit are ox rice (N.m)；
The lithium battery energy and Capacity Selection system: battery available energy EaConstant speed continual mileage requirement should be met,
That is formula (3):
In formula: S is continual mileage, unit km；PfFor resistance power, unit kW；ηeIt works for motor and controller
Efficiency, ηbFor battery working efficiency；uaFor speed, unit km/h；
Battery maximum discharge power PbmaxPower motor peak power requirements when vehicle accelerates, i.e. formula (4) should be met:
In formula: C is discharge-rate；PmaxFor motor peak power, unit kW；
The working efficiency of the vehicle dynamical system: after determining vehicle performance index and vehicle important technological parameters
The related parameter of power train is designed according to above formula.
Preferably, the determining motor continuous power system includes: selected motor power (output) PeIt should be not less than with highest
The sum of the resistance power of speed when driving, i.e. formula (5):
In formula: ηTFor the mechanical efficiency of power train；M is automobile actual mass, Kg；G is acceleration of gravity；F is tire
Coefficient of rolling resistance；uamaxFor max. speed, km/h；CDFor coefficient of air resistance；A is front face area；
Alternatively, the driving power of vehicle whole operating point is calculated according to certain operating condition, further according to its most frequently used operating condition
Point is to determine motor continuous power.
Preferably, the determining motor peak power parameter system is used under different driving cycles, according to running car
Maximum power requirement determines motor peak power under power-balance；
Including the power of motor P determined according to max. climb slopeimax, i.e. formula (6):
In formula: m is that automobile is fully loaded with quality, Kg；G is acceleration of gravity；F is the coefficient of rolling resistance of tire；uaFor low speed
Speed when climbing, km/h；imaxFor max. climb slope；
Preferably, the determining motor peak power parameter system further includes the power of motor system determined according to the acceleration time
Unite Ptmax, i.e. formula (7)；
In formula: m is automobile actual mass, Kg；G is acceleration of gravity；F is the coefficient of rolling resistance of tire；uaTo accelerate
Speed, km/h；CDFor coefficient of air resistance；A is front face area；δ is correction coefficient of rotating mass；
Choose the maximum in the power of motor according to max. climb slope determination and the power of motor according to acceleration time determination
Value is used as the motor peak power.
Pure electric automobile reduces motor peak power and is conducive to reduce the electric discharge function of battery in the case where meeting power performance and requiring
Rate, so as to reduce the energy content of battery and complete vehicle quality.
Preferably, the determining motor peak power parameter system further includes determining Rated motor torque and peak torque system
System, the rated power and rated speed of motor determine the nominal torque T of motore, i.e. formula (8)；
In formula: PeIndicate the rated power of motor, kw；neIndicate Rated motor revolving speed, rpm；
The motor peak torque TmaxIt is determined by formula (9):
Tmax=λ Te..................(9)
In formula: TeFor nominal torque, N.m；In view of electric motor and controller characteristic, the problems such as cost and technology, general three
The overload factor λ value of phase AC permanent magnet synchronous motor is 2-3.
The present invention also provides a kind of integrated control methods of the dynamical system of lithium cell electric car, and this method is using layering
Entire control process is divided into two parts, i.e. process 1 by control structure) vehicle target moves to the conversion and mistake of vehicle resultant force
Journey 2) vehicle resultant force arrives the conversion of subsystem power；Wherein, process 1) it is asked based on vehicle inverse dynamics analysis and corresponding control theory
Solution, process 2 must be controlled) it then can be readily converted into pure mathematics problem, by selecting suitable Mathematics Optimization Method to be asked
Solution.The above method simplifies the difficulty of vehicle decoupling control by chromatographic analysis, reduces the non-linear of vehicle and coupling journey
Degree, this is because the control force that the automatically controlled subsystem of tradition generates act on vehicle generation simultaneously longitudinally, laterally, vertical, sideway, side
Incline, pitching movement, due to the nonlinearity of vehicle and respectively to the coupled relation between movement, when subsystems act on simultaneously
When, it is unsatisfactory for linear superposition relationship and becomes complicated between all directions movement that generates.
Specifically, the integrated control method the following steps are included:
S1. establish the mathematical model of four-wheel independent electrical motor-car: the model be able to reflect vehicle longitudinal movement, lateral movement,
Coupled relation between weaving embodies the dynamic response characteristic of driving motor, steering motor, is able to carry out four-wheel independent electrical
The emulation of multi-locomotion mode specific to motor-car；Then for the model high speed, it is low attachment etc. limiting conditions simulation accuracy into
Row verifying；
S2. control is formulated with simplified Three Degree Of Freedom vehicle controlled system model: using in Model Predictive Control Theory design
Layer central control level algorithm, control vehicle realize driver's driving meaning given by steering wheel, accelerator pedal, brake pedal
Total longitudinal force, total lateral force, total yaw moment needed for vehicle that control algolithm obtains are exported and are distributed to lower layer's control force by figure
Layer；
S3. design lower layer's control force Distribution Layer optimizes allocation algorithm；The algorithm is to maximize four tires attachment nargin
Target is distributed, the limitation of tire vertical load, road surface attachment condition to tire adhesive ability is considered, obtains longitudinal force of tire, side
To the optimization allocation result of power；Longitudinal force of tire can directly control realization by driving, braking system, and side force of tire then needs
Control wheel steering angle is to obtain the realization of corresponding tire side drift angle, therefore this partial content further includes choosing control tire appropriate
Inversion model realizes side force of tire control.
Preferably, the integrated control method uses two layers of control structure, and upper layer is central control level, which solves car body
Motor control finds out total longitudinal force needed for car body, total lateral using vehicle inverse dynamics that is, according to vehicle movement target value
Power, total yaw moment realize driving intention；Lower layer is control force Distribution Layer, steering angle and driving force of this layer four wheels
Square using optimized control method and considers that Optimum utilization tire adhesive ability improves vehicle as 8 independent control variables
Stability, so that master control power needed for body movement is converted into the occurrence of control variable as the defeated of integrated manipulator
Out.
A kind of dynamical system of lithium cell electric car provided by the invention and the beneficial effect of integrated control method include:
The present invention selects system by motor parameter, and the operating mode of low speed perseverance torque, high speed invariable power may be implemented,
And it easily realizes stepless speed regulation, meets the requirement of max. speed and max. climb slope, can effectively play the performance of electric vehicle；
The selection of battery capacity mainly considers peak power output and energy, it is ensured that the dynamic property of electric vehicle and continuous
Sail mileage；
Battery maximum discharge power meets power motor peak power requirements when vehicle accelerates, and is conducive to keep filling in vehicle
Abundant power；
Integrated control method is simplified the difficulty of vehicle decoupling control, is reduced using layered structure by chromatographic analysis
The non-linear and degree of coupling of vehicle；
Total longitudinal force, total lateral force needed for car body, total yaw moment are found out using vehicle inverse dynamics, realizes and drives meaning
Figure, it is more preferable for the riding comfort of occupant.
Detailed description of the invention
Fig. 1 is the flow chart of the integrated control method of the dynamical system of lithium cell electric car.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1
The present invention discloses a kind of dynamical system of lithium cell electric car, includes at least: motor parameter selects system, passes
Dynamic is ratio selection system, lithium battery energy and Capacity Selection system and vehicle dynamical system.
The motor parameter selection system comprises determining that motor continuous power system and determines motor peak power parameter
System.
The power train ratio selection system: the starting torque of motor is very big, and low speed perseverance torque, high speed may be implemented
The operating mode of invariable power, and easily realize stepless speed regulation；Therefore, the selection of electric car transmission ratio need to only meet max. speed
With the requirement of max. climb slope；In one timing of motor output characteristic, how the transmission ratio of power train is selected, dependent on vehicle
Power performance index request, specifically, transmission ratio i should meet max. speed requirement, i.e. formula (1), and maximum climbing simultaneously
Degree requires, i.e. formula (2):
In formula: NmaxFor motor maximum (top) speed, unit is rev/min (rpm)；R is diameter of tyres, unit m；uamaxFor most
High speed, unit km/h；
FamaxMaximum running resistance when to climb, unit are ox (N)；ηTFor the mechanical efficiency of power train；TmaxFor motor
Torque capacity, unit are ox rice (N.m).
The selection system of the lithium battery energy and capacity: the selection of battery capacity mainly considers peak power output and energy
Amount, to guarantee the dynamic property and continual mileage of electric vehicle；Therefore, battery available energy EaConstant speed continual mileage should be met to want
It asks, i.e. formula (3):
In formula: S is continual mileage, unit km；PfFor resistance power, unit kW；ηeIt works for motor and controller
Efficiency, ηbFor battery working efficiency；uaFor speed, unit km/h；
Battery maximum discharge power PbmaxPower motor peak power requirements when vehicle accelerates, i.e. formula (4) should be met:
In formula: C is discharge-rate；PmaxFor motor peak power, unit kW；
The vehicle dynamical system:, can be according to the above public affairs after determining vehicle performance index and vehicle important technological parameters
Formula designs the related parameter of power train, greatly improves vehicle dynamic Control working efficiency.
Further, since electric car drive motor and regular industrial motor are in load requirement, technical performance
And working environment etc. is different, should fully consider in parameter designing；Electric car operational mode has at the uniform velocity and adds
2 kinds of speed, under at the uniform velocity mode, required driving power is relatively fewer, and long operational time；And it is required when accelerating mode operation
Power it is big, but the time is shorter；When flat road surface is at the uniform velocity cruised, power provided by motor only needs to overcome vapour automobile
Vehicle running resistance, including rolling resistance, air drag etc., therefore, the determining motor continuous power system include: selected electricity
Motivation power Pe(as driving motor rated power) should be not less than the sum of the resistance power with max. speed when driving, i.e. formula
(5):
In formula (similarly hereinafter): PeFor driving motor rated power, kW；ηTFor the mechanical efficiency of power train；M is the practical matter of automobile
Amount, Kg；G is acceleration of gravity；F is the coefficient of rolling resistance of tire；uamaxFor max. speed, km/h；CDFor air drag system
Number；A is front face area；
Alternatively, the driving power of vehicle whole operating point can also be calculated according to certain operating condition, it is most normal further according to it
Motor continuous power is determined with operating point.
Further, it the determining motor peak power parameter system: is used under different driving cycles, according to garage
Maximum power requirement is sailed under power-balance to determine motor peak power；
Including the power of motor P determined according to max. climb slopeimax, i.e. formula (6):
In formula: m is that automobile is fully loaded with quality, Kg；G is acceleration of gravity；F is the coefficient of rolling resistance of tire；uaFor low speed
Speed when climbing, km/h；imaxFor max. climb slope；
Preferably, the determining motor peak power parameter system further includes the power of motor system determined according to the acceleration time
Unite Ptmax, i.e. formula (7)；
In formula: m is automobile actual mass, Kg；G is acceleration of gravity；F is the coefficient of rolling resistance of tire；uaTo accelerate
Speed, km/h；CDFor coefficient of air resistance；A is front face area；δ is correction coefficient of rotating mass；
Choose the maximum in the power of motor according to max. climb slope determination and the power of motor according to acceleration time determination
Value is used as the motor peak power.
Pure electric automobile reduces motor peak power and is conducive to reduce the electric discharge function of battery in the case where meeting power performance and requiring
Rate, so as to reduce the energy content of battery and complete vehicle quality.
Further, the determining motor peak power parameter system further includes determining Rated motor torque and peak torque
System, the determining Rated motor torque and peak torque system: the rated power and rated speed of motor determine motor
Nominal torque Te, i.e. formula (8)；
In formula: PeIndicate the rated power of motor, kw；Ne indicates Rated motor revolving speed, rpm；
The motor peak torque TmaxIt is determined by formula (9):
Tmax=λ Te..................(9)
In formula: TeFor nominal torque, N.m；In view of electric motor and controller characteristic, the problems such as cost and technology, general three
The overload factor λ value of phase AC permanent magnet synchronous motor is 2-3.
The present invention also provides a kind of integrated control method of the dynamical system of lithium cell electric car, integrated control method is adopted
With heterarchical architecture, the reason is that heterarchical architecture simplifies the difficulty of vehicle decoupling control: the automatically controlled subsystem of tradition is generated
Control force act on vehicle and meanwhile generate longitudinally, laterally, vertical, sideway, inclination, pitching movement, since the height of vehicle is non-
Linearly and respectively to the coupled relation between movement, when subsystems act on simultaneously, between all directions movement of generation
It is unsatisfactory for linear superposition relationship and becomes complicated.Entire control process is divided into two by the heterarchical architecture that the present invention uses
Part, i.e. process 1) vehicle target moves to the conversion and process 2 of vehicle resultant force) vehicle resultant force arrives the conversion of subsystem power；Its
In, process 1) control solution, process 2 acquired based on vehicle inverse dynamics analysis and corresponding control theory) then can readily convert
For pure mathematics problem, solved by the suitable Mathematics Optimization Method of selection.The above method simplifies vehicle by chromatographic analysis
The difficulty of decoupling control, reduces the non-linear and degree of coupling of vehicle.
Specifically, the integrated control method includes the following steps, as shown in Figure 1:
S1. establish the mathematical model of four-wheel independent electrical motor-car: the model be able to reflect vehicle longitudinal movement, lateral movement,
Coupled relation between weaving embodies the dynamic response characteristic of driving motor, steering motor, is able to carry out four-wheel independent electrical
The emulation of multi-locomotion mode specific to motor-car；Then for the model high speed, it is low attachment etc. limiting conditions simulation accuracy into
Row verifying；
S2. control is formulated with simplified Three Degree Of Freedom vehicle controlled system model: using in Model Predictive Control Theory design
Layer central control level algorithm, control vehicle realize driver's driving meaning given by steering wheel, accelerator pedal, brake pedal
Total longitudinal force, total lateral force, total yaw moment needed for vehicle that control algolithm obtains are exported and are distributed to lower layer's control force by figure
Layer；
S3. design lower layer's control force Distribution Layer optimizes allocation algorithm；The algorithm is to maximize four tires attachment nargin
Target is distributed, the limitation of tire vertical load, road surface attachment condition to tire adhesive ability is considered, obtains longitudinal force of tire, side
To the optimization allocation result of power；Longitudinal force of tire can directly control realization by driving, braking system, and side force of tire then needs
Control wheel steering angle is to obtain the realization of corresponding tire side drift angle, therefore this partial content further includes choosing control tire appropriate
Inversion model realizes side force of tire control.
Further, the integrated control method uses two layers of control structure, and upper layer is central control level, which solves vehicle
Body motor control finds out total longitudinal force, total side needed for car body using vehicle inverse dynamics that is, according to vehicle movement target value
Xiang Li, total yaw moment realize driving intention；Lower layer is control force Distribution Layer, steering angle and driving of this layer four wheels
Torque using optimized control method and considers that Optimum utilization tire adhesive ability improves vehicle as 8 independent control variables
Stability, so that master control power needed for body movement is converted into the occurrence of control variable as the defeated of integrated manipulator
Out.
The operating mode of low speed perseverance torque, high speed invariable power may be implemented by motor parameter selection system by the present invention,
And it easily realizes stepless speed regulation, meets the requirement of max. speed and max. climb slope, can effectively play the performance of electric vehicle；
The selection of battery capacity mainly considers peak power output and energy, it is ensured that the dynamic property of electric vehicle and continuous
Sail mileage；
Battery maximum discharge power meets power motor peak power requirements when vehicle accelerates, and is conducive to keep filling in vehicle
Abundant power；
Integrated control method is simplified the difficulty of vehicle decoupling control, is reduced using layered structure by chromatographic analysis
The non-linear and degree of coupling of vehicle；
Total longitudinal force, total lateral force needed for car body, total yaw moment are found out using vehicle inverse dynamics, realizes and drives meaning
Figure, it is more preferable for the riding comfort of occupant.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (10)
1. a kind of dynamical system of lithium cell electric car, including motor parameter select system, power train ratio selection system
System, lithium battery energy and Capacity Selection system and vehicle dynamical system, it is characterised in that:
The motor parameter selection system comprises determining that motor continuous power system and determines motor peak power system of parameters
System；
The operating mode of low speed perseverance torque, high speed invariable power may be implemented in the power train ratio selection system, and easily real
Existing stepless speed regulation；Wherein, transmission ratio i should meet max. speed simultaneously and require, i.e. the requirement of formula (1) and max. climb slope, i.e.,
Formula (2):
In formula: NmaxFor motor maximum (top) speed, rpm；R is diameter of tyres, m；uamaxFor max. speed, km/h；FamaxWhen to climb
Maximum running resistance, N；ηTFor the mechanical efficiency of power train；TmaxFor motor torque capacity, N.m；
The lithium battery energy and Capacity Selection system: battery available energy EaConstant speed continual mileage requirement, i.e. formula should be met
(3) and battery maximum discharge power PbmaxPower motor peak power requirements when vehicle accelerates, i.e. formula (4) should be met:
In formula: S is continual mileage, km；PfFor resistance power, kW；ηeFor motor and controller working efficiency, ηbFor battery work
Make efficiency；uaFor speed, km/h；C is discharge-rate；PmaxFor motor peak power, kW；
The vehicle dynamical system: it after determining vehicle performance index and vehicle important technological parameters, can be set according to above formula
Count the related parameter of power train.
2. a kind of dynamical system of lithium cell electric car according to claim 1, it is characterised in that: the determining motor
Continuous power system includes: selected motor power (output) PeIt should be not less than the sum of the resistance power with max. speed when driving, i.e.,
Formula (5):
In formula: ηTFor the mechanical efficiency of power train；M is automobile actual mass, Kg；G is acceleration of gravity；F is that the rolling of tire hinders
Force coefficient；uamaxFor max. speed, km/h；CDFor coefficient of air resistance；A is front face area.
3. a kind of dynamical system of lithium cell electric car according to claim 1 or 2, it is characterised in that: the determination
Motor peak power parameter system is used under different driving cycles, according to maximum power requirement under running car power-balance
To determine motor peak power.
4. a kind of dynamical system of lithium cell electric car according to claim 3, it is characterised in that:
The determining motor peak power parameter system includes the power of motor P determined according to max. climb slopeimax, i.e. formula (6):
In formula: m is that automobile is fully loaded with quality, Kg；G is acceleration of gravity；F is the coefficient of rolling resistance of tire；uaWhen climbing for low speed
Speed, km/h；imaxFor max. climb slope.
5. a kind of dynamical system of lithium cell electric car according to claim 3, it is characterised in that: the determining motor
Peak power parameter system further includes the power of motor system P determined according to the acceleration timetmax, i.e. formula (7)；
In formula: m is automobile actual mass, Kg；G is acceleration of gravity；F is the coefficient of rolling resistance of tire；uaTo accelerate speed,
km/h；CDFor coefficient of air resistance；A is front face area；δ is correction coefficient of rotating mass.
6. according to a kind of described in any item dynamical systems of lithium cell electric car of claim 3-5, it is characterised in that:
The determining motor peak power parameter system further includes choosing the power of motor P determined according to max. climb slopeimaxWith
The power of motor P determined according to the acceleration timetmaxIn maximum value as the motor peak power.
7. a kind of dynamical system of lithium cell electric car according to claim 1 or 2, it is characterised in that:
The determining motor peak power parameter system further includes determining Rated motor torque and peak torque system；
The determining Rated motor torque and peak torque system are used to determine electricity according to the rated power and rated speed of motor
Machine nominal torque Te, i.e. formula (8):
In formula: PeIndicate the rated power of motor, kW；neIndicate Rated motor revolving speed, rpm；
The motor peak torque TmaxIt is determined by formula (9):
Tmax=λ Te………………(9)
In formula: TeFor Rated motor torque, N.m；The overload factor λ value of three-phase AC permanent magnet synchronous motor is 2-3.
8. a kind of integrated control method of the dynamical system of lithium cell electric car according to claim 1-7,
It is characterized by:
The integrated control method uses heterarchical architecture, entire control process is divided into two parts, that is, process 1) vehicle
Target moves to the conversion of vehicle resultant force；Process 2) vehicle resultant force arrives the conversion of subsystem power；
Wherein, process 1) control solution, process 2 acquired based on vehicle inverse dynamics analysis and corresponding control theory) can then be easy
Be converted into pure mathematics problem, by selecting suitable Mathematics Optimization Method to be solved.
9. the integrated control method of the dynamical system of lithium cell electric car according to claim 8, it is characterised in that:
The integrated control method the following steps are included:
S1. establish the mathematical model of four-wheel independent electrical motor-car: the model is able to reflect vehicle longitudinal movement, lateral movement, sideway
Coupled relation between movement embodies the dynamic response characteristic of driving motor, steering motor, is able to carry out four-wheel independent electrical motor-car
Specific multi-locomotion mode emulation；Then the simulation accuracy for the model in limiting conditions such as high speed, low attachments is tested
Card；
S2. control is formulated with simplified Three Degree Of Freedom vehicle controlled system model: upper layer collection is designed using Model Predictive Control Theory
Middle control layer algorithm, control vehicle realize driver's driving intention given by steering wheel, accelerator pedal, brake pedal, will
Total longitudinal force, total lateral force, total yaw moment, which export, needed for the vehicle that control algolithm obtains gives lower layer's control force Distribution Layer；
S3. design lower layer's control force Distribution Layer optimizes allocation algorithm；The algorithm is to maximize four tire attachment nargin as distribution
Target considers the limitation of tire vertical load, road surface attachment condition to tire adhesive ability, obtains longitudinal force of tire, lateral force
Optimization allocation result；Longitudinal force of tire can directly control realization by driving, braking system, and side force of tire then needs to control
Wheel steering angle is to obtain the realization of corresponding tire side drift angle, therefore this partial content further includes choosing control tire appropriate against mould
Type realizes side force of tire control.
10. the integrated control method of the dynamical system of -9 described in any item lithium cell electric cars according to claim 1, special
Sign is:
The integrated control method uses two layers of control structure, and upper layer is central control level, which solves body movement control force,
I.e. according to vehicle movement target value, total longitudinal force, total lateral force needed for car body, total sideway power are found out using vehicle inverse dynamics
Square realizes driving intention；Lower layer is control force Distribution Layer, this layer using the steering angle of four wheels and driving moment as 8 solely
Vertical control variable using optimized control method and considers that Optimum utilization tire adhesive ability improves intact stability, thus
Master control power needed for body movement is converted into the occurrence of control variable as the output of integrated manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910786422.9A CN110481340A (en) | 2019-08-25 | 2019-08-25 | A kind of dynamical system and integrated control method of lithium cell electric car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910786422.9A CN110481340A (en) | 2019-08-25 | 2019-08-25 | A kind of dynamical system and integrated control method of lithium cell electric car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110481340A true CN110481340A (en) | 2019-11-22 |
Family
ID=68553558
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910786422.9A Pending CN110481340A (en) | 2019-08-25 | 2019-08-25 | A kind of dynamical system and integrated control method of lithium cell electric car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110481340A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110843535A (en) * | 2019-11-26 | 2020-02-28 | 安徽江淮汽车集团股份有限公司 | Vehicle power matching method, device, equipment and storage medium |
| WO2024022043A1 (en) * | 2022-07-28 | 2024-02-01 | 中国第一汽车股份有限公司 | Charging and discharging power control method and apparatus for power battery in vehicle, and vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101386259A (en) * | 2007-09-11 | 2009-03-18 | 通用汽车环球科技运作公司 | Control architecture and method for one-dimensional optimization of input torque and motor torque in fixed gear for a hybrid powertrain system |
| CN102799743A (en) * | 2012-07-31 | 2012-11-28 | 奇瑞汽车股份有限公司 | Matching method for pure electric vehicle power system |
| CN103273857A (en) * | 2013-03-20 | 2013-09-04 | 北京工业大学 | Efficiency optimizing method of master-slave type multi-motor driving system |
| CN103568868A (en) * | 2013-11-04 | 2014-02-12 | 浙江大学 | Power matching method applicable to electric vehicle |
| CN104709112A (en) * | 2015-03-24 | 2015-06-17 | 上海中科深江电动车辆有限公司 | Pure electric vehicle driving system and performance optimizing method |
| CN206351643U (en) * | 2016-08-31 | 2017-07-25 | 贵州航天特种车有限责任公司 | A kind of whole electric vehicle Optimal Control System |
-
2019
- 2019-08-25 CN CN201910786422.9A patent/CN110481340A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101386259A (en) * | 2007-09-11 | 2009-03-18 | 通用汽车环球科技运作公司 | Control architecture and method for one-dimensional optimization of input torque and motor torque in fixed gear for a hybrid powertrain system |
| CN102799743A (en) * | 2012-07-31 | 2012-11-28 | 奇瑞汽车股份有限公司 | Matching method for pure electric vehicle power system |
| CN103273857A (en) * | 2013-03-20 | 2013-09-04 | 北京工业大学 | Efficiency optimizing method of master-slave type multi-motor driving system |
| CN103568868A (en) * | 2013-11-04 | 2014-02-12 | 浙江大学 | Power matching method applicable to electric vehicle |
| CN104709112A (en) * | 2015-03-24 | 2015-06-17 | 上海中科深江电动车辆有限公司 | Pure electric vehicle driving system and performance optimizing method |
| CN206351643U (en) * | 2016-08-31 | 2017-07-25 | 贵州航天特种车有限责任公司 | A kind of whole electric vehicle Optimal Control System |
Non-Patent Citations (1)
| Title |
|---|
| 杨志豪: "基于车载总线的分布式驱动电动汽车操纵稳定性研究", 《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110843535A (en) * | 2019-11-26 | 2020-02-28 | 安徽江淮汽车集团股份有限公司 | Vehicle power matching method, device, equipment and storage medium |
| WO2024022043A1 (en) * | 2022-07-28 | 2024-02-01 | 中国第一汽车股份有限公司 | Charging and discharging power control method and apparatus for power battery in vehicle, and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Mansour et al. | Dynamic modeling of the electro-mechanical configuration of the Toyota Hybrid System series/parallel power train | |
| Liu et al. | Evaluation of regenerative braking based on single-pedal control for electric vehicles | |
| US20120123624A1 (en) | Running Control Device for Electric Vehicle | |
| CN107131296A (en) | A kind of pure electric automobile two towards energy consumption keeps off speed change system control strategy | |
| CN109703375A (en) | Electric car regenerating braking energy coordinates recycling and control method | |
| CN101804810A (en) | Optimum integration control method of plug-in hybrid electric vehicle | |
| CN107600066B (en) | For the comprehensive shift schedule implementation method of plug-in hybrid-power automobile | |
| CN110481340A (en) | A kind of dynamical system and integrated control method of lithium cell electric car | |
| CN105128855A (en) | Method for controlling double-shaft parallel hybrid power urban bus | |
| Xu et al. | Simulation and analysis of series hybrid electric vehicle (SHEV) based on ADVISOR | |
| WO2023098465A1 (en) | Braking and gear shifting control method and system for electric vehicle | |
| Zheng et al. | Optimal torque split strategy of dual-motor electric vehicle using adaptive nonlinear particle swarm optimization | |
| Zhang et al. | Powertrain design and energy management of a novel coaxial series-parallel plug-in hybrid electric vehicle | |
| Wang et al. | Dual-mode adaptive cruise control strategy based on model predictive control and neural network for pure electric vehicles | |
| CN109624977B (en) | Cruise mode control method of hybrid electric vehicle | |
| Sun et al. | Optimization Design of Powertrain Parameters for Electromechanical Flywheel Hybrid Electric Vehicle. | |
| Van Mierlo et al. | Vehicle simulation program: a tool to evaluate hybrid power management strategies based on an innovative iteration algorithm | |
| CN111775922A (en) | Automatic control method for automobile pedal | |
| Zhe et al. | A control strategy of regenerative braking system for intelligent vehicle | |
| CN111539125A (en) | Integrated framework building and braking energy recovery system for combined simulation modeling electric automobile | |
| Li et al. | Study on Braking Energy Recovery Control Strategy for Four-Axle Battery Electric Heavy-Duty Trucks | |
| Szadkowski et al. | A study of energy requirements for electric and hybrid vehicles in cities | |
| CN107491587A (en) | The multi-factor comprehensive parameterization design method of power dividing type hybrid power passenger car | |
| Zhao et al. | An integrated control strategy for eco-driving of intelligent hybrid vehicles | |
| Wang et al. | Regenerative braking control of multi-step series hybrid energy storage system with energy constraint for practical operation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191122 |
|
| RJ01 | Rejection of invention patent application after publication |